#include <hpp/manipulation/manipulation-planner.hh>
◆ ManipulationPlanner()
hpp::manipulation::ManipulationPlanner::ManipulationPlanner |
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const Problem & |
problem, |
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const core::RoadmapPtr_t & |
roadmap |
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) |
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protected |
◆ create()
static ManipulationPlannerPtr_t hpp::manipulation::ManipulationPlanner::create |
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const core::Problem & |
problem, |
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const core::RoadmapPtr_t & |
roadmap |
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) |
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static |
Create an instance and return a shared pointer to the instance.
◆ extend()
bool hpp::manipulation::ManipulationPlanner::extend |
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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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) |
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Extend a the configuration q_near toward q_rand.
- Parameters
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q_near | the configuration to be extended. |
q_rand | the configuration toward extension is performed. |
- Return values
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validPath | the 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 |
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const ManipulationPlannerWkPtr_t & |
weak | ) |
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protected |
Store weak pointer to itself.
◆ oneStep()
virtual void hpp::manipulation::ManipulationPlanner::oneStep |
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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.