#include <hpp/manipulation/manipulation-planner.hh>
List of all members.
Classes |
struct | Reasons |
Public Member Functions |
virtual void | oneStep () |
| One step of extension.
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bool | extend (const core::NodePtr_t &q_near, const ConfigurationPtr_t &q_rand, core::PathPtr_t &validPath) |
| Extend a the configuration q_near toward q_rand.
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Static Public Member Functions |
static ManipulationPlannerPtr_t | create (const core::Problem &problem, const core::RoadmapPtr_t &roadmap) |
| Create an instance and return a shared pointer to the instance.
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Protected Member Functions |
| ManipulationPlanner (const Problem &problem, const core::RoadmapPtr_t &roadmap) |
| Protected constructor.
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void | init (const ManipulationPlannerWkPtr_t &weak) |
| Store weak pointer to itself.
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Constructor & Destructor Documentation
hpp::manipulation::ManipulationPlanner::ManipulationPlanner |
( |
const Problem & |
problem, |
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const core::RoadmapPtr_t & |
roadmap |
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) |
| [protected] |
Member Function Documentation
static ManipulationPlannerPtr_t hpp::manipulation::ManipulationPlanner::create |
( |
const core::Problem & |
problem, |
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const core::RoadmapPtr_t & |
roadmap |
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) |
| [static] |
Create an instance and return a shared pointer to the instance.
bool hpp::manipulation::ManipulationPlanner::extend |
( |
const core::NodePtr_t & |
q_near, |
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const ConfigurationPtr_t & |
q_rand, |
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core::PathPtr_t & |
validPath |
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) |
| |
Extend a the configuration q_near toward q_rand.
- Parameters:
-
q_near | the configuration to be extended. |
q_rand | the configuration toward extension is performed. |
- Return values:
-
validPath | the longest valid path (possibly of length 0), resulting from the extension. |
- Returns:
- True if the returned path is valid.
void hpp::manipulation::ManipulationPlanner::init |
( |
const ManipulationPlannerWkPtr_t & |
weak | ) |
[protected] |
Store weak pointer to itself.
virtual void hpp::manipulation::ManipulationPlanner::oneStep |
( |
| ) |
[virtual] |
One step of extension.
A set of constraints is choosen using the graph of constraints. A constraint extension is done using a choosen set.