hpp::core::VisibilityPrmPlanner Class Reference

Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards. More...

#include <hpp/core/visibility-prm-planner.hh>

Inheritance diagram for hpp::core::VisibilityPrmPlanner:
Collaboration diagram for hpp::core::VisibilityPrmPlanner:

List of all members.

Public Member Functions

virtual void oneStep ()
 One step of extension.
void configurationShooter (const ConfigurationShooterPtr_t &shooter)
 Set configuration shooter.

Static Public Member Functions

static VisibilityPrmPlannerPtr_t createWithRoadmap (const Problem &problem, const RoadmapPtr_t &roadmap)
 Return shared pointer to new object.
static VisibilityPrmPlannerPtr_t create (const Problem &problem)
 Return shared pointer to new object.

Protected Member Functions

 VisibilityPrmPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
 Constructor.
 VisibilityPrmPlanner (const Problem &problem)
 Constructor with roadmap.
void init (const VisibilityPrmPlannerWkPtr_t &weak)
 Store weak pointer to itself.

Detailed Description

Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards.


Constructor & Destructor Documentation

hpp::core::VisibilityPrmPlanner::VisibilityPrmPlanner ( const Problem problem,
const RoadmapPtr_t roadmap 
) [protected]

Constructor.

hpp::core::VisibilityPrmPlanner::VisibilityPrmPlanner ( const Problem problem) [protected]

Constructor with roadmap.


Member Function Documentation

void hpp::core::VisibilityPrmPlanner::configurationShooter ( const ConfigurationShooterPtr_t shooter)

Set configuration shooter.

static VisibilityPrmPlannerPtr_t hpp::core::VisibilityPrmPlanner::create ( const Problem problem) [static]

Return shared pointer to new object.

static VisibilityPrmPlannerPtr_t hpp::core::VisibilityPrmPlanner::createWithRoadmap ( const Problem problem,
const RoadmapPtr_t roadmap 
) [static]

Return shared pointer to new object.

void hpp::core::VisibilityPrmPlanner::init ( const VisibilityPrmPlannerWkPtr_t &  weak) [protected]

Store weak pointer to itself.

virtual void hpp::core::VisibilityPrmPlanner::oneStep ( ) [virtual]

One step of extension.

Implements hpp::core::PathPlanner.