#include <hpp/core/path-planner.hh>
Public Member Functions | |
const RoadmapPtr_t & | roadmap () const |
Get roadmap. | |
const Problem & | problem () const |
Get problem. | |
virtual void | startSolve () |
Initialize the problem resolution. | |
virtual PathVectorPtr_t | solve () |
Solve. | |
void | tryDirectPath () |
Try to make direct connection between init and goal configurations, in order to avoid a random shoot. | |
virtual void | oneStep ()=0 |
User implementation of one step of resolution. | |
virtual PathVectorPtr_t | finishSolve (const PathVectorPtr_t &path) |
Post processing of the resulting path. | |
void | interrupt () |
Interrupt path planning. | |
PathVectorPtr_t | computePath () const |
Find a path in the roadmap and transform it in trajectory. | |
Protected Member Functions | |
PathPlanner (const Problem &problem) | |
Constructor. | |
PathPlanner (const Problem &problem, const RoadmapPtr_t &roadmap) | |
Constructor. | |
void | init (const PathPlannerWkPtr_t &weak) |
Store weak pointer to itself. |
Path planner.
Algorithm that computes a path between an initial configuration and a set of goal configurations.
hpp::core::PathPlanner::PathPlanner | ( | const Problem & | problem | ) | [protected] |
Constructor.
Create a new roadmap
hpp::core::PathPlanner::PathPlanner | ( | const Problem & | problem, |
const RoadmapPtr_t & | roadmap | ||
) | [protected] |
Constructor.
Store a given roadmap.
PathVectorPtr_t hpp::core::PathPlanner::computePath | ( | ) | const |
Find a path in the roadmap and transform it in trajectory.
virtual PathVectorPtr_t hpp::core::PathPlanner::finishSolve | ( | const PathVectorPtr_t & | path | ) | [virtual] |
Post processing of the resulting path.
Reimplemented in hpp::core::PlanAndOptimize.
void hpp::core::PathPlanner::init | ( | const PathPlannerWkPtr_t & | weak | ) | [protected] |
Store weak pointer to itself.
void hpp::core::PathPlanner::interrupt | ( | ) |
Interrupt path planning.
virtual void hpp::core::PathPlanner::oneStep | ( | ) | [pure virtual] |
User implementation of one step of resolution.
Implemented in hpp::core::PlanAndOptimize, hpp::core::VisibilityPrmPlanner, and hpp::core::DiffusingPlanner.
const Problem& hpp::core::PathPlanner::problem | ( | ) | const |
Get problem.
const RoadmapPtr_t& hpp::core::PathPlanner::roadmap | ( | ) | const |
Get roadmap.
virtual PathVectorPtr_t hpp::core::PathPlanner::solve | ( | ) | [virtual] |
Solve.
Call methods
virtual void hpp::core::PathPlanner::startSolve | ( | ) | [virtual] |
Initialize the problem resolution.
Reimplemented in hpp::core::PlanAndOptimize.
void hpp::core::PathPlanner::tryDirectPath | ( | ) |
Try to make direct connection between init and goal configurations, in order to avoid a random shoot.