Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
hpp::core::BiRRTPlanner Class Reference

Implementation of directional bi-RRT algorithm maintaining only two connected components for respectively the start and goal configurations. More...

#include <hpp/core/bi-rrt-planner.hh>

Inheritance diagram for hpp::core::BiRRTPlanner:
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Collaboration diagram for hpp::core::BiRRTPlanner:
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Public Member Functions

virtual void startSolve ()
 One step of extension. More...
 
virtual void oneStep ()
 One step of extension. More...
 
- Public Member Functions inherited from hpp::core::PathPlanner
virtual ~PathPlanner ()
 
virtual const RoadmapPtr_troadmap () const
 Get roadmap. More...
 
const Problemproblem () const
 Get problem. More...
 
virtual PathVectorPtr_t solve ()
 Solve. More...
 
virtual void tryDirectPath ()
 Try to make direct connection between init and goal configurations, in order to avoid a random shoot. More...
 
virtual PathVectorPtr_t finishSolve (const PathVectorPtr_t &path)
 Post processing of the resulting path. More...
 
void interrupt ()
 Interrupt path planning. More...
 
void maxIterations (const unsigned long int &n)
 Set maximal number of iterations. More...
 
PathVectorPtr_t computePath () const
 Find a path in the roadmap and transform it in trajectory. More...
 

Static Public Member Functions

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

Protected Member Functions

 BiRRTPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
 Constructor. More...
 
 BiRRTPlanner (const Problem &problem)
 Constructor with roadmap. More...
 
void init (const BiRRTPlannerWkPtr_t &weak)
 Store weak pointer to itself. More...
 
- Protected Member Functions inherited from hpp::core::PathPlanner
 PathPlanner (const Problem &problem)
 Constructor. More...
 
 PathPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
 Constructor. More...
 
void init (const PathPlannerWkPtr_t &weak)
 Store weak pointer to itself. More...
 

Detailed Description

Implementation of directional bi-RRT algorithm maintaining only two connected components for respectively the start and goal configurations.

Constructor & Destructor Documentation

◆ BiRRTPlanner() [1/2]

hpp::core::BiRRTPlanner::BiRRTPlanner ( const Problem problem,
const RoadmapPtr_t roadmap 
)
protected

Constructor.

◆ BiRRTPlanner() [2/2]

hpp::core::BiRRTPlanner::BiRRTPlanner ( const Problem problem)
protected

Constructor with roadmap.

Member Function Documentation

◆ create()

static BiRRTPlannerPtr_t hpp::core::BiRRTPlanner::create ( const Problem problem)
static

Return shared pointer to new object.

◆ createWithRoadmap()

static BiRRTPlannerPtr_t hpp::core::BiRRTPlanner::createWithRoadmap ( const Problem problem,
const RoadmapPtr_t roadmap 
)
static

Return shared pointer to new object.

◆ init()

void hpp::core::BiRRTPlanner::init ( const BiRRTPlannerWkPtr_t &  weak)
protected

Store weak pointer to itself.

◆ oneStep()

virtual void hpp::core::BiRRTPlanner::oneStep ( )
virtual

One step of extension.

Implements hpp::core::PathPlanner.

◆ startSolve()

virtual void hpp::core::BiRRTPlanner::startSolve ( )
virtual

One step of extension.

Reimplemented from hpp::core::PathPlanner.