30 #ifndef HPP_CORE_BIRRT_PLANNER_HH
31 #define HPP_CORE_BIRRT_PLANNER_HH
61 void init(
const BiRRTPlannerWkPtr_t& weak);
72 BiRRTPlannerWkPtr_t weakPtr_;
Definition: bi-rrt-planner.hh:43
static BiRRTPlannerPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
BiRRTPlanner(const ProblemConstPtr_t &problem)
Constructor with roadmap.
static BiRRTPlannerPtr_t createWithRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Return shared pointer to new object.
BiRRTPlanner(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Constructor.
std::vector< ConnectedComponentPtr_t > endComponents_
Definition: bi-rrt-planner.hh:68
PathPtr_t extendInternal(const SteeringMethodPtr_t &sm, Configuration_t &qProj_, const NodePtr_t &near, const Configuration_t &target, bool reverse=false)
void init(const BiRRTPlannerWkPtr_t &weak)
Store weak pointer to itself.
ConnectedComponentPtr_t startComponent_
Definition: bi-rrt-planner.hh:67
virtual void oneStep()
One step of extension.
ConfigurationShooterPtr_t configurationShooter_
Definition: bi-rrt-planner.hh:66
virtual void startSolve()
One step of extension.
Definition: path-planner.hh:45
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition: fwd.hh:91
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:112
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:198
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:212
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:196
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:116
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:186
Definition: bi-rrt-planner.hh:35