hpp::core::DiffusingPlanner Class Reference

Generic implementation of RRT algorithm. More...

#include <hpp/core/diffusing-planner.hh>

Inheritance diagram for hpp::core::DiffusingPlanner:
Collaboration diagram for hpp::core::DiffusingPlanner:

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

Protected Member Functions

 DiffusingPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
 Constructor.
 DiffusingPlanner (const Problem &problem)
 Constructor with roadmap.
void init (const DiffusingPlannerWkPtr_t &weak)
 Store weak pointer to itself.
virtual PathPtr_t extend (const NodePtr_t &near, const ConfigurationPtr_t &target)
 Extend a node in the direction of a configuration.

Detailed Description

Generic implementation of RRT algorithm.


Constructor & Destructor Documentation

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

Constructor.

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

Constructor with roadmap.


Member Function Documentation

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

Set configuration shooter.

static DiffusingPlannerPtr_t hpp::core::DiffusingPlanner::create ( const Problem problem) [static]

Return shared pointer to new object.

static DiffusingPlannerPtr_t hpp::core::DiffusingPlanner::createWithRoadmap ( const Problem problem,
const RoadmapPtr_t roadmap 
) [static]

Return shared pointer to new object.

virtual PathPtr_t hpp::core::DiffusingPlanner::extend ( const NodePtr_t near,
const ConfigurationPtr_t target 
) [protected, virtual]

Extend a node in the direction of a configuration.

Parameters:
nearnode in the roadmap,
targettarget configuration
void hpp::core::DiffusingPlanner::init ( const DiffusingPlannerWkPtr_t &  weak) [protected]

Store weak pointer to itself.

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

One step of extension.

Implements hpp::core::PathPlanner.