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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/visibility-prm-planner.hh>


Public Member Functions | |
| virtual void | oneStep () |
| One step of extension. | |
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 void | startSolve () |
| 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 VisibilityPrmPlannerPtr_t | createWithRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap) |
| Return shared pointer to new object. | |
| static VisibilityPrmPlannerPtr_t | create (const ProblemConstPtr_t &problem) |
| Return shared pointer to new object. | |
Protected Member Functions | |
| VisibilityPrmPlanner (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap) | |
| Constructor. | |
| VisibilityPrmPlanner (const ProblemConstPtr_t &problem) | |
| Constructor with roadmap. | |
| void | init (const VisibilityPrmPlannerWkPtr_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. | |
Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards.
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protected |
Constructor.
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protected |
Constructor with roadmap.
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static |
Return shared pointer to new object.
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static |
Return shared pointer to new object.
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protected |
Store weak pointer to itself.
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virtual |
One step of extension.
Implements hpp::core::PathPlanner.