hpp-core
4.12.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
20 # define HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
26 namespace pathPlanner {
53 virtual void startSolve ();
56 virtual void tryConnectInitAndGoals ();
58 virtual void oneStep ();
60 STATE getComputationState ()
const;
71 void init (
const kPrmStarWkPtr_t& weak);
76 void generateRandomConfig ();
80 void connectInitAndGoal ();
84 bool connectNodeToClosestNeighbors (
const NodePtr_t& node);
86 std::size_t numberNodes_;
88 Nodes_t::const_iterator linkingNodeIt_;
90 Nodes_t::iterator itNeighbor_;
96 bool reachedLastNeighbor_;
98 kPrmStarWkPtr_t weak_;
104 #endif // HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
pinocchio::size_type size_type
Definition: fwd.hh:156
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:164
@ BUILD_ROADMAP
Definition: k-prm-star.hh:34
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
static const double kPRM
Constant kPRM = 2 e.
Definition: k-prm-star.hh:40
Definition: bi-rrt-planner.hh:24
Definition: k-prm-star.hh:29
STATE
Computation step of the algorithm.
Definition: k-prm-star.hh:33
PathPlanner Parent_t
Definition: k-prm-star.hh:41
@ CONNECT_INIT_GOAL
Definition: k-prm-star.hh:36
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:286
@ LINK_NODES
Definition: k-prm-star.hh:35
Definition: path-planner.hh:34
#define HPP_CORE_DLLAPI
Definition: config.hh:64