hpp::core::PathPlanner Class Reference

Path planner. More...

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

Inheritance diagram for hpp::core::PathPlanner:

List of all members.

Public Member Functions

const RoadmapPtr_troadmap () const
 Get roadmap.
const Problemproblem () const
 Get problem.
virtual void startSolve ()
 Initialize the problem resolution.
virtual PathVectorPtr_t solve ()
 Solve.
void tryDirectPath ()
 Try to make direct connection between init and goal configurations, in order to avoid a random shoot.
virtual void oneStep ()=0
 User implementation of one step of resolution.
virtual PathVectorPtr_t finishSolve (const PathVectorPtr_t &path)
 Post processing of the resulting path.
void interrupt ()
 Interrupt path planning.
PathVectorPtr_t computePath () const
 Find a path in the roadmap and transform it in trajectory.

Protected Member Functions

 PathPlanner (const Problem &problem)
 Constructor.
 PathPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
 Constructor.
void init (const PathPlannerWkPtr_t &weak)
 Store weak pointer to itself.

Detailed Description

Path planner.

Algorithm that computes a path between an initial configuration and a set of goal configurations.


Constructor & Destructor Documentation

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

Constructor.

Create a new roadmap

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

Constructor.

Store a given roadmap.


Member Function Documentation

PathVectorPtr_t hpp::core::PathPlanner::computePath ( ) const

Find a path in the roadmap and transform it in trajectory.

virtual PathVectorPtr_t hpp::core::PathPlanner::finishSolve ( const PathVectorPtr_t path) [virtual]

Post processing of the resulting path.

Reimplemented in hpp::core::PlanAndOptimize.

void hpp::core::PathPlanner::init ( const PathPlannerWkPtr_t &  weak) [protected]

Store weak pointer to itself.

void hpp::core::PathPlanner::interrupt ( )

Interrupt path planning.

virtual void hpp::core::PathPlanner::oneStep ( ) [pure virtual]

User implementation of one step of resolution.

Implemented in hpp::core::PlanAndOptimize, hpp::core::VisibilityPrmPlanner, and hpp::core::DiffusingPlanner.

const Problem& hpp::core::PathPlanner::problem ( ) const

Get problem.

const RoadmapPtr_t& hpp::core::PathPlanner::roadmap ( ) const

Get roadmap.

virtual PathVectorPtr_t hpp::core::PathPlanner::solve ( ) [virtual]

Solve.

Call methods

  • startSolve,
  • oneStep until a solution is found,
  • finishSolve. Users can implement themselves the loop to avoid being trapped in an infinite loop when no solution is found.
virtual void hpp::core::PathPlanner::startSolve ( ) [virtual]

Initialize the problem resolution.

  • Set initial and and goal nodes,
  • check problem consistency

Reimplemented in hpp::core::PlanAndOptimize.

void hpp::core::PathPlanner::tryDirectPath ( )

Try to make direct connection between init and goal configurations, in order to avoid a random shoot.