Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Member Functions | List of all members
hpp::core::pathPlanner::kPrmStar Class Reference

k-PRM* path planning algorithm as described in https://arxiv.org/pdf/1105.1186.pdf. More...

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

Inheritance diagram for hpp::core::pathPlanner::kPrmStar:
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Collaboration diagram for hpp::core::pathPlanner::kPrmStar:
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Public Types

typedef PathPlanner Parent_t
 

Public Member Functions

virtual void startSolve ()
 Initialize the problem resolution. More...
 
virtual void oneStep ()
 One step of the algorithm. 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 kPrmStarPtr_t create (const Problem &problem)
 Return shared pointer to new instance. More...
 
static kPrmStarPtr_t createWithRoadmap (const Problem &problem, const RoadmapPtr_t &roadmap)
 Return shared pointer to new instance. More...
 

Static Public Attributes

static const double kPRM
 Constant kPRM = 2 e. More...
 

Protected Member Functions

 kPrmStar (const Problem &problem)
 Protected constructor. More...
 
 kPrmStar (const Problem &problem, const RoadmapPtr_t &roadmap)
 Protected constructor. More...
 
void init (const kPrmStarWkPtr_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

k-PRM* path planning algorithm as described in https://arxiv.org/pdf/1105.1186.pdf.

Member Typedef Documentation

◆ Parent_t

Constructor & Destructor Documentation

◆ kPrmStar() [1/2]

hpp::core::pathPlanner::kPrmStar::kPrmStar ( const Problem problem)
protected

Protected constructor.

Parameters
problemthe path planning problem

◆ kPrmStar() [2/2]

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

Protected constructor.

Parameters
problemthe path planning problem
roadmappreviously built roadmap

Member Function Documentation

◆ create()

static kPrmStarPtr_t hpp::core::pathPlanner::kPrmStar::create ( const Problem problem)
static

Return shared pointer to new instance.

Parameters
problemthe path planning problem

◆ createWithRoadmap()

static kPrmStarPtr_t hpp::core::pathPlanner::kPrmStar::createWithRoadmap ( const Problem problem,
const RoadmapPtr_t roadmap 
)
static

Return shared pointer to new instance.

Parameters
problemthe path planning problem
roadmappreviously built roadmap

◆ init()

void hpp::core::pathPlanner::kPrmStar::init ( const kPrmStarWkPtr_t &  weak)
protected

Store weak pointer to itself.

◆ oneStep()

virtual void hpp::core::pathPlanner::kPrmStar::oneStep ( )
virtual

One step of the algorithm.

Implements hpp::core::PathPlanner.

◆ startSolve()

virtual void hpp::core::pathPlanner::kPrmStar::startSolve ( )
virtual

Initialize the problem resolution.

  • call parent implementation
  • get number nodes in problem parameter map

Reimplemented from hpp::core::PathPlanner.

Member Data Documentation

◆ kPRM

const double hpp::core::pathPlanner::kPrmStar::kPRM
static

Constant kPRM = 2 e.