hpp::core::PlanAndOptimize Class Reference

Path planner and optimizer. More...

#include <hpp/core/plan-and-optimize.hh>

Inheritance diagram for hpp::core::PlanAndOptimize:
Collaboration diagram for hpp::core::PlanAndOptimize:

List of all members.

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)

Detailed Description

Path planner and optimizer.

Plans a path and iteratively applies a series of optimizer on the result.


Constructor & Destructor Documentation

hpp::core::PlanAndOptimize::PlanAndOptimize ( const PathPlannerPtr_t pathPlanner) [protected]

Member Function Documentation

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.