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hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/path-planner/bi-rrt-star.hh>


Public Types | |
| typedef PathPlanner | Parent_t |
Public Member Functions | |
| void | startSolve () |
| void | oneStep () |
| One step of the algorithm. | |
Public Member Functions inherited from hpp::core::PathPlanner | |
| virtual | ~PathPlanner () |
| virtual const RoadmapPtr_t & | roadmap () const |
| Get roadmap. | |
| ProblemConstPtr_t | problem () const |
| Get problem. | |
| virtual PathVectorPtr_t | solve () |
| virtual void | tryConnectInitAndGoals () |
| Try to connect initial and goal configurations to existing roadmap. | |
| virtual PathVectorPtr_t | finishSolve (const PathVectorPtr_t &path) |
| Post processing of the resulting path. | |
| void | interrupt () |
| Interrupt path planning. | |
| void | maxIterations (const unsigned long int &n) |
| Set maximal number of iterations. | |
| unsigned long int | maxIterations () const |
| Get maximal number of iterations. | |
| void | timeOut (const double &timeOut) |
| set time out (in seconds) | |
| double | timeOut () const |
| Get time out. | |
| void | stopWhenProblemIsSolved (bool enable) |
| PathVectorPtr_t | computePath () const |
| Find a path in the roadmap and transform it in trajectory. | |
Static Public Member Functions | |
| static BiRrtStarPtr_t | create (const ProblemConstPtr_t &problem) |
| static BiRrtStarPtr_t | createWithRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap) |
Protected Member Functions | |
| BiRrtStar (const ProblemConstPtr_t &problem) | |
| BiRrtStar (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap) | |
| void | init (const BiRrtStarWkPtr_t &weak) |
| Store weak pointer to itself. | |
Protected Member Functions inherited from hpp::core::PathPlanner | |
| PathPlanner (const ProblemConstPtr_t &problem) | |
| PathPlanner (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap) | |
| void | init (const PathPlannerWkPtr_t &weak) |
| Store weak pointer to itself. | |
Bi-RRT* path planning algorithm as described in http://www.golems.org/papers/AkgunIROS11-sampling.pdf
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protected |
Protected constructor
| problem | the path planning problem |
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protected |
Protected constructor
| problem | the path planning problem |
| roadmap | previously built roadmap |
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static |
Return shared pointer to new instance
| problem | the path planning problem |
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static |
Return shared pointer to new instance
| problem | the path planning problem |
| roadmap | previously built roadmap |
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protected |
Store weak pointer to itself.
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virtual |
One step of the algorithm.
Implements hpp::core::PathPlanner.
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virtual |
Initialize the problem resolution
Reimplemented from hpp::core::PathPlanner.