hpp-rbprm  4.14.0
Implementation of RB-PRM planner using hpp.
hpp::rbprm::DynamicPlanner Class Reference

Generic implementation of RRT algorithm. More...

#include <hpp/rbprm/planner/dynamic-planner.hh>

Inheritance diagram for hpp::rbprm::DynamicPlanner:
Collaboration diagram for hpp::rbprm::DynamicPlanner:

Public Member Functions

virtual void oneStep ()
 One step of extension. More...
 
virtual void tryConnectInitAndGoals ()
 
virtual const core::RoadmapPtr_t & roadmap () const
 
virtual core::PathVectorPtr_t finishSolve (const core::PathVectorPtr_t &path)
 

Static Public Member Functions

static DynamicPlannerPtr_t createWithRoadmap (core::ProblemConstPtr_t problem, const RoadmapPtr_t &roadmap)
 Return shared pointer to new object. More...
 
static DynamicPlannerPtr_t create (core::ProblemConstPtr_t problem)
 Return shared pointer to new object. More...
 

Protected Member Functions

 DynamicPlanner (core::ProblemConstPtr_t problem, const RoadmapPtr_t &roadmap)
 Constructor. More...
 
 DynamicPlanner (core::ProblemConstPtr_t problem)
 Constructor with roadmap. More...
 
void init (const DynamicPlannerWkPtr_t &weak)
 Store weak pointer to itself. More...
 
void computeGIWC (const core::NodePtr_t x, core::ValidationReportPtr_t report)
 computeGIWC compute the GIWC for the node configuration and fill the node attribut More...
 
void computeGIWC (const core::NodePtr_t x, bool use_bestReport=true)
 computeGIWC compute the GIWC for the node configuration and fill the node attribut, get validation report and call the second method More...
 
core::PathPtr_t extendInternal (core::ConfigurationPtr_t &qProj_, const core::NodePtr_t &near, const core::ConfigurationPtr_t &target, bool reverse=false)
 
bool tryParabolaPath (const core::NodePtr_t &near, core::ConfigurationPtr_t q_jump, const core::ConfigurationPtr_t &target, bool reverse, core::NodePtr_t &x_jump, core::NodePtr_t &nodeReached, core::PathPtr_t &kinoPath, core::PathPtr_t &paraPath)
 
core::PathPtr_t extendParabola (const core::ConfigurationPtr_t &from, const core::ConfigurationPtr_t &target, bool reverse)
 

Detailed Description

Generic implementation of RRT algorithm.

Constructor & Destructor Documentation

◆ DynamicPlanner() [1/2]

hpp::rbprm::DynamicPlanner::DynamicPlanner ( core::ProblemConstPtr_t  problem,
const RoadmapPtr_t &  roadmap 
)
protected

Constructor.

◆ DynamicPlanner() [2/2]

hpp::rbprm::DynamicPlanner::DynamicPlanner ( core::ProblemConstPtr_t  problem)
protected

Constructor with roadmap.

Member Function Documentation

◆ computeGIWC() [1/2]

void hpp::rbprm::DynamicPlanner::computeGIWC ( const core::NodePtr_t  x,
bool  use_bestReport = true 
)
protected

computeGIWC compute the GIWC for the node configuration and fill the node attribut, get validation report and call the second method

Parameters
xthe node

◆ computeGIWC() [2/2]

void hpp::rbprm::DynamicPlanner::computeGIWC ( const core::NodePtr_t  x,
core::ValidationReportPtr_t  report 
)
protected

computeGIWC compute the GIWC for the node configuration and fill the node attribut

Parameters
xthe node
reportthe RBPRM report corresponding to the node's configuration

◆ create()

static DynamicPlannerPtr_t hpp::rbprm::DynamicPlanner::create ( core::ProblemConstPtr_t  problem)
static

Return shared pointer to new object.

◆ createWithRoadmap()

static DynamicPlannerPtr_t hpp::rbprm::DynamicPlanner::createWithRoadmap ( core::ProblemConstPtr_t  problem,
const RoadmapPtr_t &  roadmap 
)
static

Return shared pointer to new object.

◆ extendInternal()

core::PathPtr_t hpp::rbprm::DynamicPlanner::extendInternal ( core::ConfigurationPtr_t &  qProj_,
const core::NodePtr_t &  near,
const core::ConfigurationPtr_t &  target,
bool  reverse = false 
)
protected

◆ extendParabola()

core::PathPtr_t hpp::rbprm::DynamicPlanner::extendParabola ( const core::ConfigurationPtr_t &  from,
const core::ConfigurationPtr_t &  target,
bool  reverse 
)
protected

◆ finishSolve()

virtual core::PathVectorPtr_t hpp::rbprm::DynamicPlanner::finishSolve ( const core::PathVectorPtr_t &  path)
virtual

◆ init()

void hpp::rbprm::DynamicPlanner::init ( const DynamicPlannerWkPtr_t &  weak)
protected

Store weak pointer to itself.

◆ oneStep()

virtual void hpp::rbprm::DynamicPlanner::oneStep ( )
virtual

One step of extension.

◆ roadmap()

virtual const core::RoadmapPtr_t& hpp::rbprm::DynamicPlanner::roadmap ( ) const
inlinevirtual

◆ tryConnectInitAndGoals()

virtual void hpp::rbprm::DynamicPlanner::tryConnectInitAndGoals ( )
virtual

Try to make direct connection between init and goal configurations, in order to avoid a random shoot.

◆ tryParabolaPath()

bool hpp::rbprm::DynamicPlanner::tryParabolaPath ( const core::NodePtr_t &  near,
core::ConfigurationPtr_t  q_jump,
const core::ConfigurationPtr_t &  target,
bool  reverse,
core::NodePtr_t &  x_jump,
core::NodePtr_t &  nodeReached,
core::PathPtr_t &  kinoPath,
core::PathPtr_t &  paraPath 
)
protected

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