hpp-core  4.14.0
Implement basic classes for canonical path planning for kinematic chains.
hpp::core::pathPlanner::kPrmStar Class Reference

#include <hpp/core/path-planner/k-prm-star.hh>

Inheritance diagram for hpp::core::pathPlanner::kPrmStar:
Collaboration diagram for hpp::core::pathPlanner::kPrmStar:

Public Types

enum  STATE { BUILD_ROADMAP , LINK_NODES , CONNECT_INIT_GOAL , FAILURE }
 Computation step of the algorithm. More...
 
typedef PathPlanner Parent_t
 

Public Member Functions

virtual void startSolve ()
 
virtual void tryConnectInitAndGoals ()
 
virtual void oneStep ()
 One step of the algorithm. More...
 
STATE getComputationState () const
 get the computationnal state of the algorithm More...
 
- Public Member Functions inherited from hpp::core::PathPlanner
virtual ~PathPlanner ()
 
virtual const RoadmapPtr_troadmap () const
 Get roadmap. More...
 
ProblemConstPtr_t problem () const
 Get problem. More...
 
virtual PathVectorPtr_t solve ()
 
virtual PathVectorPtr_t finishSolve (const PathVectorPtr_t &path)
 Post processing of the resulting path. More...
 
void interrupt ()
 Interrupt path planning. More...
 
void maxIterations (const unsigned long int &n)
 Set maximal number of iterations. More...
 
void timeOut (const double &timeOut)
 set time out (in seconds) More...
 
void stopWhenProblemIsSolved (bool enable)
 
PathVectorPtr_t computePath () const
 Find a path in the roadmap and transform it in trajectory. More...
 

Static Public Member Functions

static kPrmStarPtr_t create (const ProblemConstPtr_t &problem)
 
static kPrmStarPtr_t createWithRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
 

Static Public Attributes

static const double kPRM
 Constant kPRM = 2 e. More...
 

Protected Member Functions

 kPrmStar (const ProblemConstPtr_t &problem)
 
 kPrmStar (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
 
void init (const kPrmStarWkPtr_t &weak)
 Store weak pointer to itself. More...
 
- Protected Member Functions inherited from hpp::core::PathPlanner
 PathPlanner (const ProblemConstPtr_t &problem)
 
 PathPlanner (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
 
void init (const PathPlannerWkPtr_t &weak)
 Store weak pointer to itself. More...
 

Detailed Description

k-PRM* path planning algorithm as described in https://arxiv.org/pdf/1105.1186.pdf.

Member Typedef Documentation

◆ Parent_t

Member Enumeration Documentation

◆ STATE

Computation step of the algorithm.

Enumerator
BUILD_ROADMAP 
LINK_NODES 
CONNECT_INIT_GOAL 
FAILURE 

Constructor & Destructor Documentation

◆ kPrmStar() [1/2]

hpp::core::pathPlanner::kPrmStar::kPrmStar ( const ProblemConstPtr_t problem)
protected

Protected constructor

Parameters
problemthe path planning problem

◆ kPrmStar() [2/2]

hpp::core::pathPlanner::kPrmStar::kPrmStar ( const ProblemConstPtr_t problem,
const RoadmapPtr_t roadmap 
)
protected

Protected constructor

Parameters
problemthe path planning problem
roadmappreviously built roadmap

Member Function Documentation

◆ create()

static kPrmStarPtr_t hpp::core::pathPlanner::kPrmStar::create ( const ProblemConstPtr_t problem)
static

Return shared pointer to new instance

Parameters
problemthe path planning problem

◆ createWithRoadmap()

static kPrmStarPtr_t hpp::core::pathPlanner::kPrmStar::createWithRoadmap ( const ProblemConstPtr_t problem,
const RoadmapPtr_t roadmap 
)
static

Return shared pointer to new instance

Parameters
problemthe path planning problem
roadmappreviously built roadmap

◆ getComputationState()

STATE hpp::core::pathPlanner::kPrmStar::getComputationState ( ) const

get the computationnal state of the algorithm

◆ init()

void hpp::core::pathPlanner::kPrmStar::init ( const kPrmStarWkPtr_t &  weak)
protected

Store weak pointer to itself.

◆ oneStep()

virtual void hpp::core::pathPlanner::kPrmStar::oneStep ( )
virtual

One step of the algorithm.

Implements hpp::core::PathPlanner.

◆ startSolve()

virtual void hpp::core::pathPlanner::kPrmStar::startSolve ( )
virtual

Initialize the problem resolution

  • call parent implementation
  • get number nodes in problem parameter map

Reimplemented from hpp::core::PathPlanner.

◆ tryConnectInitAndGoals()

virtual void hpp::core::pathPlanner::kPrmStar::tryConnectInitAndGoals ( )
virtual

Does nothing. This step is performed by the main algorithm

Reimplemented from hpp::core::PathPlanner.

Member Data Documentation

◆ kPRM

const double hpp::core::pathPlanner::kPrmStar::kPRM
static

Constant kPRM = 2 e.


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