hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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hpp::rbprm::SteeringMethodKinodynamic Class Reference

#include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh>

Inheritance diagram for hpp::rbprm::SteeringMethodKinodynamic:
Collaboration diagram for hpp::rbprm::SteeringMethodKinodynamic:

Public Member Functions

core::PathPtr_t operator() (core::ConfigurationIn_t q1, const core::NodePtr_t x)
 
core::PathPtr_t operator() (const core::NodePtr_t x, core::ConfigurationIn_t q2)
 
virtual core::SteeringMethodPtr_t copy () const
 Copy instance and return shared pointer. More...
 
virtual core::PathPtr_t impl_compute (core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
 create a path between two configurations More...
 
core::PathPtr_t impl_compute (core::NodePtr_t x, core::ConfigurationIn_t q2)
 
core::PathPtr_t impl_compute (core::ConfigurationIn_t q1, core::NodePtr_t x)
 

Static Public Member Functions

static SteeringMethodKinodynamicPtr_t create (core::ProblemConstPtr_t problem)
 Create an instance. More...
 
static SteeringMethodKinodynamicPtr_t createCopy (const SteeringMethodKinodynamicPtr_t &other)
 Copy instance and return shared pointer. More...
 

Public Attributes

double totalTimeComputed_
 
double totalTimeValidated_
 
int dirValid_
 
int dirTotal_
 
int rejectedPath_
 
const double maxLength_
 

Protected Member Functions

 SteeringMethodKinodynamic (core::ProblemConstPtr_t problem)
 Constructor. More...
 
 SteeringMethodKinodynamic (const SteeringMethodKinodynamic &other)
 Copy constructor. More...
 
void init (SteeringMethodKinodynamicWkPtr_t weak)
 Store weak pointer to itself. More...
 
core::PathPtr_t computeDirection (const core::ConfigurationIn_t from, const core::ConfigurationIn_t to, bool reverse)
 computeDirection compute the direction that the steering method will choose in order to connect from to to More...
 
core::PathPtr_t setSteeringMethodBounds (const core::RbprmNodePtr_t &near, const core::ConfigurationIn_t target, bool reverse)
 setSteeringMethodBounds Compute the maximal acceleration on a direction from near to target, and send it to the steering method More...
 

Constructor & Destructor Documentation

◆ SteeringMethodKinodynamic() [1/2]

hpp::rbprm::SteeringMethodKinodynamic::SteeringMethodKinodynamic ( core::ProblemConstPtr_t  problem)
protected

Constructor.

◆ SteeringMethodKinodynamic() [2/2]

hpp::rbprm::SteeringMethodKinodynamic::SteeringMethodKinodynamic ( const SteeringMethodKinodynamic other)
protected

Copy constructor.

Member Function Documentation

◆ computeDirection()

core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::computeDirection ( const core::ConfigurationIn_t  from,
const core::ConfigurationIn_t  to,
bool  reverse 
)
protected

computeDirection compute the direction that the steering method will choose in order to connect from to to

Parameters
from
to
Returns

◆ copy()

virtual core::SteeringMethodPtr_t hpp::rbprm::SteeringMethodKinodynamic::copy ( ) const
inlinevirtual

Copy instance and return shared pointer.

◆ create()

static SteeringMethodKinodynamicPtr_t hpp::rbprm::SteeringMethodKinodynamic::create ( core::ProblemConstPtr_t  problem)
inlinestatic

Create an instance.

◆ createCopy()

static SteeringMethodKinodynamicPtr_t hpp::rbprm::SteeringMethodKinodynamic::createCopy ( const SteeringMethodKinodynamicPtr_t other)
inlinestatic

Copy instance and return shared pointer.

◆ impl_compute() [1/3]

virtual core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::impl_compute ( core::ConfigurationIn_t  q1,
core::ConfigurationIn_t  q2 
) const
virtual

create a path between two configurations

◆ impl_compute() [2/3]

core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::impl_compute ( core::ConfigurationIn_t  q1,
core::NodePtr_t  x 
)

◆ impl_compute() [3/3]

core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::impl_compute ( core::NodePtr_t  x,
core::ConfigurationIn_t  q2 
)

◆ init()

void hpp::rbprm::SteeringMethodKinodynamic::init ( SteeringMethodKinodynamicWkPtr_t  weak)
inlineprotected

Store weak pointer to itself.

◆ operator()() [1/2]

core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::operator() ( const core::NodePtr_t  x,
core::ConfigurationIn_t  q2 
)
inline

◆ operator()() [2/2]

core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::operator() ( core::ConfigurationIn_t  q1,
const core::NodePtr_t  x 
)
inline

◆ setSteeringMethodBounds()

core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::setSteeringMethodBounds ( const core::RbprmNodePtr_t near,
const core::ConfigurationIn_t  target,
bool  reverse 
)
protected

setSteeringMethodBounds Compute the maximal acceleration on a direction from near to target, and send it to the steering method

Parameters
nearthe node from where we take the the information about contact and position
targetthe target configuration
reverseif true, we compute the acceleration from target to near, with the information from near
Returns
the node casted from near

Member Data Documentation

◆ dirTotal_

int hpp::rbprm::SteeringMethodKinodynamic::dirTotal_

◆ dirValid_

int hpp::rbprm::SteeringMethodKinodynamic::dirValid_

◆ maxLength_

const double hpp::rbprm::SteeringMethodKinodynamic::maxLength_

◆ rejectedPath_

int hpp::rbprm::SteeringMethodKinodynamic::rejectedPath_

◆ totalTimeComputed_

double hpp::rbprm::SteeringMethodKinodynamic::totalTimeComputed_

◆ totalTimeValidated_

double hpp::rbprm::SteeringMethodKinodynamic::totalTimeValidated_

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