hpp-core
5.2.0
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
31 #define HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
37 namespace pathPlanner {
63 virtual void startSolve();
66 virtual void tryConnectInitAndGoals();
68 virtual void oneStep();
70 STATE getComputationState()
const;
81 void init(
const kPrmStarWkPtr_t& weak);
86 void generateRandomConfig();
90 void connectInitAndGoal();
94 bool connectNodeToClosestNeighbors(
const NodePtr_t& node);
96 std::size_t numberNodes_;
98 Nodes_t::const_iterator linkingNodeIt_;
100 Nodes_t::iterator itNeighbor_;
106 bool reachedLastNeighbor_;
108 kPrmStarWkPtr_t weak_;
114 #endif // HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
pinocchio::size_type size_type
Definition: fwd.hh:173
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:181
@ BUILD_ROADMAP
Definition: k-prm-star.hh:44
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
static const double kPRM
Constant kPRM = 2 e.
Definition: k-prm-star.hh:50
Definition: bi-rrt-planner.hh:35
Definition: k-prm-star.hh:40
STATE
Computation step of the algorithm.
Definition: k-prm-star.hh:43
PathPlanner Parent_t
Definition: k-prm-star.hh:51
@ CONNECT_INIT_GOAL
Definition: k-prm-star.hh:46
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:304
@ LINK_NODES
Definition: k-prm-star.hh:45
Definition: path-planner.hh:45
#define HPP_CORE_DLLAPI
Definition: config.hh:88