Generic implementation of RRT algorithm. More...
#include <hpp/core/diffusing-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 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. |
Generic implementation of RRT algorithm.
hpp::core::DiffusingPlanner::DiffusingPlanner | ( | const Problem & | problem, |
const RoadmapPtr_t & | roadmap | ||
) | [protected] |
Constructor.
hpp::core::DiffusingPlanner::DiffusingPlanner | ( | const Problem & | problem | ) | [protected] |
Constructor with roadmap.
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.
near | node in the roadmap, |
target | target 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.