hpp-core 4.15.1
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/path-planner/k-prm-star.hh>
Public Types | |
enum | STATE { BUILD_ROADMAP , LINK_NODES , CONNECT_INIT_GOAL , FAILURE } |
Computation step of the algorithm. More... | |
typedef PathPlanner | Parent_t |
Public Member Functions | |
virtual void | startSolve () |
virtual void | tryConnectInitAndGoals () |
virtual void | oneStep () |
One step of the algorithm. More... | |
STATE | getComputationState () const |
get the computationnal state of the algorithm More... | |
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virtual | ~PathPlanner () |
virtual const RoadmapPtr_t & | roadmap () const |
Get roadmap. More... | |
ProblemConstPtr_t | problem () const |
Get problem. More... | |
virtual void | startSolve () |
virtual PathVectorPtr_t | solve () |
virtual void | tryConnectInitAndGoals () |
Try to connect initial and goal configurations to existing roadmap. More... | |
virtual void | oneStep ()=0 |
User implementation of one step of resolution. More... | |
virtual PathVectorPtr_t | finishSolve (const PathVectorPtr_t &path) |
Post processing of the resulting path. More... | |
void | interrupt () |
Interrupt path planning. More... | |
void | maxIterations (const unsigned long int &n) |
Set maximal number of iterations. More... | |
void | timeOut (const double &timeOut) |
set time out (in seconds) More... | |
void | stopWhenProblemIsSolved (bool enable) |
PathVectorPtr_t | computePath () const |
Find a path in the roadmap and transform it in trajectory. More... | |
Static Public Member Functions | |
static kPrmStarPtr_t | create (const ProblemConstPtr_t &problem) |
static kPrmStarPtr_t | createWithRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap) |
Static Public Attributes | |
static const double | kPRM |
Constant kPRM = 2 e. More... | |
Protected Member Functions | |
kPrmStar (const ProblemConstPtr_t &problem) | |
kPrmStar (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap) | |
void | init (const kPrmStarWkPtr_t &weak) |
Store weak pointer to itself. More... | |
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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. More... | |
k-PRM* path planning algorithm as described in https://arxiv.org/pdf/1105.1186.pdf.
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Protected constructor
problem | the path planning problem |
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Protected constructor
problem | the path planning problem |
roadmap | previously built roadmap |
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Return shared pointer to new instance
problem | the path planning problem |
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Return shared pointer to new instance
problem | the path planning problem |
roadmap | previously built roadmap |
STATE hpp::core::pathPlanner::kPrmStar::getComputationState | ( | ) | const |
get the computationnal state of the algorithm
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Store weak pointer to itself.
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One step of the algorithm.
Implements hpp::core::PathPlanner.
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Initialize the problem resolution
Reimplemented from hpp::core::PathPlanner.
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Does nothing. This step is performed by the main algorithm
Reimplemented from hpp::core::PathPlanner.
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Constant kPRM = 2 e.