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>
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. |
Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards.
hpp::core::VisibilityPrmPlanner::VisibilityPrmPlanner | ( | const Problem & | problem, |
const RoadmapPtr_t & | roadmap | ||
) | [protected] |
Constructor.
hpp::core::VisibilityPrmPlanner::VisibilityPrmPlanner | ( | const Problem & | problem | ) | [protected] |
Constructor with roadmap.
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.