hpp::manipulation::ManipulationPlanner Class Reference

#include <hpp/manipulation/manipulation-planner.hh>

Inheritance diagram for hpp::manipulation::ManipulationPlanner:
Collaboration diagram for hpp::manipulation::ManipulationPlanner:

Public Member Functions

virtual void oneStep ()
 One step of extension. More...
 
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. More...
 

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. More...
 

Protected Member Functions

 ManipulationPlanner (const Problem &problem, const core::RoadmapPtr_t &roadmap)
 Protected constructor. More...
 
void init (const ManipulationPlannerWkPtr_t &weak)
 Store weak pointer to itself. More...
 

Constructor & Destructor Documentation

◆ ManipulationPlanner()

hpp::manipulation::ManipulationPlanner::ManipulationPlanner ( const Problem problem,
const core::RoadmapPtr_t &  roadmap 
)
protected

Protected constructor.

Member Function Documentation

◆ create()

static ManipulationPlannerPtr_t hpp::manipulation::ManipulationPlanner::create ( const core::Problem &  problem,
const core::RoadmapPtr_t &  roadmap 
)
static

Create an instance and return a shared pointer to the instance.

◆ extend()

bool hpp::manipulation::ManipulationPlanner::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.

Parameters
q_nearthe configuration to be extended.
q_randthe configuration toward extension is performed.
Return values
validPaththe longest valid path (possibly of length 0), resulting from the extension.
Returns
True if the returned path is valid.

◆ init()

void hpp::manipulation::ManipulationPlanner::init ( const ManipulationPlannerWkPtr_t &  weak)
protected

Store weak pointer to itself.

◆ oneStep()

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.