hpp-manipulation 5.0.0
Classes for manipulation planning.
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Classes | |
class | hpp::manipulation::pathPlanner::StatesPathFinder |
class | hpp::manipulation::pathPlanner::TransitionPlanner |
Typedefs | |
typedef core::PathPlannerPtr_t | hpp::manipulation::pathPlanner::TransitionPlanner::PathPlannerPtr_t |
typedef core::PathProjectorPtr_t | hpp::manipulation::pathPlanner::TransitionPlanner::PathProjectorPtr_t |
typedef core::PathPtr_t | hpp::manipulation::pathPlanner::TransitionPlanner::PathPtr_t |
typedef core::PathOptimizerPtr_t | hpp::manipulation::pathPlanner::TransitionPlanner::PathOptimizerPtr_t |
typedef core::PathVector | hpp::manipulation::pathPlanner::TransitionPlanner::PathVector |
typedef core::PathVectorPtr_t | hpp::manipulation::pathPlanner::TransitionPlanner::PathVectorPtr_t |
typedef core::Parameter | hpp::manipulation::pathPlanner::TransitionPlanner::Parameter |
typedef core::Parameter hpp::manipulation::pathPlanner::TransitionPlanner::Parameter |
typedef core::PathOptimizerPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathOptimizerPtr_t |
typedef core::PathPlannerPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathPlannerPtr_t |
typedef core::PathProjectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathProjectorPtr_t |
typedef core::PathPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathPtr_t |
typedef core::PathVector hpp::manipulation::pathPlanner::TransitionPlanner::PathVector |
typedef core::PathVectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathVectorPtr_t |
void hpp::manipulation::pathPlanner::TransitionPlanner::addPathOptimizer | ( | const PathOptimizerPtr_t & | pathOptimizer | ) |
Add a path optimizer.
void hpp::manipulation::pathPlanner::TransitionPlanner::clearPathOptimizers | ( | ) |
Clear path optimizers.
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static |
Create instance and return share pointer.
PathPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::directPath | ( | ConfigurationIn_t | q1, |
ConfigurationIn_t | q2, | ||
bool | validate, | ||
bool & | success, | ||
std::string & | status | ||
) |
Call the steering method between two configurations
q1,q2 | the start and end configurations, |
validate | whether resulting path should be tested for collision |
success | True if path has been computed and validated successfully |
status | a message in case of failure. If a path projector has been selected, the path is tested for continuity. |
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protected |
store weak pointer to itself
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inline |
Get the inner planner.
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inline |
Set the inner planner.
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inline |
Get the inner problem.
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virtual |
One step of the planner Calls the same method of the internally stored planner
PathVectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::optimizePath | ( | const PathPtr_t & | path | ) |
Optimize path using the selected path optimizers
path | input path |
void hpp::manipulation::pathPlanner::TransitionPlanner::pathProjector | ( | const PathProjectorPtr_t | pathProjector | ) |
Set the path projector.
PathVectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::planPath | ( | const Configuration_t | qInit, |
matrixIn_t | qGoals, | ||
bool | resetRoadmap | ||
) |
Solve the problem defined by input configurations
qInit | initial configuration, |
qGoals,goal | configurations, |
resetRoadmap | whether to reset the roadmap |
void hpp::manipulation::pathPlanner::TransitionPlanner::setEdge | ( | std::size_t | id | ) |
Set transition along which we wish to plan a path
id | index of the edge in the constraint graph |
void hpp::manipulation::pathPlanner::TransitionPlanner::setParameter | ( | const std::string & | key, |
const Parameter & | value | ||
) |
Set parameter to the inner problem.
void hpp::manipulation::pathPlanner::TransitionPlanner::setReedsAndSheppSteeringMethod | ( | double | turningRadius | ) |
Create a Reeds and Shepp steering method and path it to the problem.
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virtual |
Initialize path planning Set right hand side of problem constraints with initial configuration
PathVectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::timeParameterization | ( | const PathVectorPtr_t & | path | ) |
Compute time parameterization of path
path | input path |
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protected |
Constructor Cast problem into manipulation::Problem and store shared pointer
Create an inner problem and forward the following elements of the input problem to the inner problem: