#include <hpp/manipulation/manipulation-planner.hh>

Inheritance diagram for hpp::manipulation::ManipulationPlanner:

Collaboration diagram for hpp::manipulation::ManipulationPlanner:

Public Types
typedef std::list< std::size_t >	ErrorFreqs_t

Public Member Functions
virtual void	oneStep ()

bool	extend (RoadmapNodePtr_t q_near, ConfigurationIn_t q_rand, core::PathPtr_t &validPath)

ErrorFreqs_t	getEdgeStat (const graph::EdgePtr_t &edge) const

Public Member Functions inherited from hpp::core::PathPlanner
virtual	~PathPlanner ()

virtual const RoadmapPtr_t &	roadmap () const

ProblemConstPtr_t	problem () const

virtual void	startSolve ()

virtual PathVectorPtr_t	solve ()

virtual void	tryConnectInitAndGoals ()

virtual PathVectorPtr_t	finishSolve (const PathVectorPtr_t &path)

void	interrupt ()

void	maxIterations (const unsigned long int &n)

unsigned long int	maxIterations () const

void	timeOut (const double &timeOut)

double	timeOut () const

void	stopWhenProblemIsSolved (bool enable)

PathVectorPtr_t	computePath () const

Static Public Member Functions
static ManipulationPlannerPtr_t	create (const core::ProblemConstPtr_t &problem, const core::RoadmapPtr_t &roadmap)
	Create an instance and return a shared pointer to the instance.

static StringList_t	errorList ()

Protected Member Functions
	ManipulationPlanner (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
	Protected constructor.

void	init (const ManipulationPlannerWkPtr_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)

Member Typedef Documentation

◆ ErrorFreqs_t

typedef std::list<std::size_t> hpp::manipulation::ManipulationPlanner::ErrorFreqs_t

Constructor & Destructor Documentation

◆ ManipulationPlanner()

hpp::manipulation::ManipulationPlanner::ManipulationPlanner	(	const ProblemConstPtr_t &	problem,
		const RoadmapPtr_t &	roadmap
	)

protected

Protected constructor.

Member Function Documentation

◆ create()

static ManipulationPlannerPtr_t hpp::manipulation::ManipulationPlanner::create	(	const core::ProblemConstPtr_t &	problem,
		const core::RoadmapPtr_t &	roadmap
	)

static

Create an instance and return a shared pointer to the instance.

◆ errorList()

static StringList_t hpp::manipulation::ManipulationPlanner::errorList ( )

static

Get the list of possible outputs of the extension step.

See also: ManipulationPlanner::getEdgeStat

◆ extend()

bool hpp::manipulation::ManipulationPlanner::extend	(	RoadmapNodePtr_t	q_near,
		ConfigurationIn_t	q_rand,
		core::PathPtr_t &	validPath
	)

Extend configuration q_near toward q_rand.

Parameters

q_near	the configuration to be extended.
q_rand	the configuration toward extension is performed.

Return values

validPath the longest valid path (possibly of length 0), resulting from the extension.

Returns: True if the returned path is valid.

◆ getEdgeStat()

ErrorFreqs_t hpp::manipulation::ManipulationPlanner::getEdgeStat ( const graph::EdgePtr_t & edge ) const

Get the number of occurrence of each errors.

See also: ManipulationPlanner::errorList

◆ init()

void hpp::manipulation::ManipulationPlanner::init ( const ManipulationPlannerWkPtr_t & weak )

protected

Store weak pointer to itself.

◆ oneStep()

virtual void hpp::manipulation::ManipulationPlanner::oneStep ( )

virtual

One step of extension.

A set of constraints is chosen using the graph of constraints. A constraint extension is done using a chosen set.

Implements hpp::core::PathPlanner.

The documentation for this class was generated from the following file:

include/hpp/manipulation/manipulation-planner.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions