hpp-rbprm  4.13.0
Implementation of RB-PRM planner using hpp.
hpp::rbprm::OrientedPathOptimizer Class Reference

#include <hpp/rbprm/planner/oriented-path-optimizer.hh>

Inheritance diagram for hpp::rbprm::OrientedPathOptimizer:
Collaboration diagram for hpp::rbprm::OrientedPathOptimizer:

Public Member Functions

virtual core::PathVectorPtr_t optimize (const core::PathVectorPtr_t &path)
 Optimize path. More...
 

Static Public Member Functions

static OrientedPathOptimizerPtr_t create (core::ProblemConstPtr_t problem)
 Return shared pointer to new object. More...
 

Protected Member Functions

 OrientedPathOptimizer (core::ProblemConstPtr_t problem)
 
bool checkReplaceOrientation (const size_t index, const size_t lastIndex, std::vector< bool > replaceValid, std::vector< bool > orientedValid, std::vector< core::KinodynamicOrientedPathPtr_t > orientedPaths, std::vector< core::KinodynamicPathPtr_t > resultPaths)
 
core::PathPtr_t steer (core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
 

Constructor & Destructor Documentation

◆ OrientedPathOptimizer()

hpp::rbprm::OrientedPathOptimizer::OrientedPathOptimizer ( core::ProblemConstPtr_t  problem)
protected

Member Function Documentation

◆ checkReplaceOrientation()

bool hpp::rbprm::OrientedPathOptimizer::checkReplaceOrientation ( const size_t  index,
const size_t  lastIndex,
std::vector< bool >  replaceValid,
std::vector< bool >  orientedValid,
std::vector< core::KinodynamicOrientedPathPtr_t >  orientedPaths,
std::vector< core::KinodynamicPathPtr_t >  resultPaths 
)
protected

◆ create()

static OrientedPathOptimizerPtr_t hpp::rbprm::OrientedPathOptimizer::create ( core::ProblemConstPtr_t  problem)
static

Return shared pointer to new object.

◆ optimize()

virtual core::PathVectorPtr_t hpp::rbprm::OrientedPathOptimizer::optimize ( const core::PathVectorPtr_t &  path)
virtual

Optimize path.

◆ steer()

core::PathPtr_t hpp::rbprm::OrientedPathOptimizer::steer ( core::ConfigurationIn_t  q1,
core::ConfigurationIn_t  q2 
) const
protected

The documentation for this class was generated from the following file: