19 #ifndef HPP_CORE_DIFFUSING_PLANNER_HH
20 # define HPP_CORE_DIFFUSING_PLANNER_HH
48 void init (
const DiffusingPlannerWkPtr_t& weak);
57 DiffusingPlannerWkPtr_t weakPtr_;
Generic implementation of RRT algorithm.
Definition: diffusing-planner.hh:31
DiffusingPlanner(const ProblemConstPtr_t &problem)
Constructor with roadmap.
static DiffusingPlannerPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
void init(const DiffusingPlannerWkPtr_t &weak)
Store weak pointer to itself.
virtual PathPtr_t extend(const NodePtr_t &near, const Configuration_t &target)
virtual void oneStep()
One step of extension.
void configurationShooter(const ConfigurationShooterPtr_t &shooter)
Set configuration shooter.
DiffusingPlanner(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Constructor.
static DiffusingPlannerPtr_t createWithRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Return shared pointer to new object.
Definition: path-planner.hh:34
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:103
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition: fwd.hh:121
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
Definition: bi-rrt-planner.hh:24