hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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Classes | |
class | hpp::rbprm::OrientedPathOptimizer |
class | hpp::rbprm::RandomShortcutDynamic |
Typedefs | |
typedef shared_ptr< OrientedPathOptimizer > | hpp::rbprm::OrientedPathOptimizerPtr_t |
typedef shared_ptr< RandomShortcutDynamic > | hpp::rbprm::RandomShortcutDynamicPtr_t |
Functions | |
hpp::rbprm::HPP_PREDEF_CLASS (OrientedPathOptimizer) | |
hpp::rbprm::HPP_PREDEF_CLASS (RandomShortcutDynamic) | |
typedef shared_ptr<OrientedPathOptimizer> hpp::rbprm::OrientedPathOptimizerPtr_t |
typedef shared_ptr<RandomShortcutDynamic> hpp::rbprm::RandomShortcutDynamicPtr_t |
hpp::rbprm::HPP_PREDEF_CLASS | ( | OrientedPathOptimizer | ) |
Oriented Path Optimizer
Optimizer that try to use OrientedKinodynamicPath along the computed path Only use oriented path if it's collision free and if the previous/next path can be adjusted to the new orientation
hpp::rbprm::HPP_PREDEF_CLASS | ( | RandomShortcutDynamic | ) |
Random shortcut dynamic
Path optimizer that iteratively samples random configurations along a path and that tries to connect these configurations by a call to the steering method.
Extend the original algorithm from hpp-core in order to take compute the dynamic constraints (friction cones) and verify the dynamic feasability