Path planner and optimizer. More...
#include <hpp/core/plan-and-optimize.hh>
Public Member Functions | |
virtual void | startSolve () |
Call internal path planner implementation. | |
virtual void | oneStep () |
One iteration of path planning or path optimization. | |
virtual PathVectorPtr_t | finishSolve (const PathVectorPtr_t &path) |
Optimize planned path. | |
void | addPathOptimizer (const PathOptimizerPtr_t &optimizer) |
Static Public Member Functions | |
static PlanAndOptimizePtr_t | create (const PathPlannerPtr_t &pathPlanner) |
Return shared pointer to new object. | |
Protected Member Functions | |
PlanAndOptimize (const PathPlannerPtr_t &pathPlanner) |
Path planner and optimizer.
Plans a path and iteratively applies a series of optimizer on the result.
hpp::core::PlanAndOptimize::PlanAndOptimize | ( | const PathPlannerPtr_t & | pathPlanner | ) | [protected] |
void hpp::core::PlanAndOptimize::addPathOptimizer | ( | const PathOptimizerPtr_t & | optimizer | ) |
static PlanAndOptimizePtr_t hpp::core::PlanAndOptimize::create | ( | const PathPlannerPtr_t & | pathPlanner | ) | [static] |
Return shared pointer to new object.
virtual PathVectorPtr_t hpp::core::PlanAndOptimize::finishSolve | ( | const PathVectorPtr_t & | path | ) | [virtual] |
Optimize planned path.
Reimplemented from hpp::core::PathPlanner.
virtual void hpp::core::PlanAndOptimize::oneStep | ( | ) | [virtual] |
One iteration of path planning or path optimization.
Implements hpp::core::PathPlanner.
virtual void hpp::core::PlanAndOptimize::startSolve | ( | ) | [virtual] |
Call internal path planner implementation.
Reimplemented from hpp::core::PathPlanner.