Generic implementation of RRT algorithm.
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#include <hpp/rbprm/planner/dynamic-planner.hh>
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| DynamicPlanner (core::ProblemConstPtr_t problem, const RoadmapPtr_t &roadmap) |
| Constructor. More...
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| DynamicPlanner (core::ProblemConstPtr_t problem) |
| Constructor with roadmap. More...
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void | init (const DynamicPlannerWkPtr_t &weak) |
| Store weak pointer to itself. More...
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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...
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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...
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core::PathPtr_t | extendInternal (core::ConfigurationPtr_t &qProj_, const core::NodePtr_t &near, const core::ConfigurationPtr_t &target, bool reverse=false) |
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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 ¶Path) |
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core::PathPtr_t | extendParabola (const core::ConfigurationPtr_t &from, const core::ConfigurationPtr_t &target, bool reverse) |
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Generic implementation of RRT algorithm.
◆ DynamicPlanner() [1/2]
hpp::rbprm::DynamicPlanner::DynamicPlanner |
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core::ProblemConstPtr_t |
problem, |
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const RoadmapPtr_t & |
roadmap |
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) |
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◆ DynamicPlanner() [2/2]
hpp::rbprm::DynamicPlanner::DynamicPlanner |
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core::ProblemConstPtr_t |
problem | ) |
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Constructor with roadmap.
◆ computeGIWC() [1/2]
void hpp::rbprm::DynamicPlanner::computeGIWC |
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const core::NodePtr_t |
x, |
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bool |
use_bestReport = true |
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computeGIWC compute the GIWC for the node configuration and fill the node attribut, get validation report and call the second method
- Parameters
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◆ computeGIWC() [2/2]
void hpp::rbprm::DynamicPlanner::computeGIWC |
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const core::NodePtr_t |
x, |
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core::ValidationReportPtr_t |
report |
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computeGIWC compute the GIWC for the node configuration and fill the node attribut
- Parameters
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x | the node |
report | the RBPRM report corresponding to the node's configuration |
◆ create()
static DynamicPlannerPtr_t hpp::rbprm::DynamicPlanner::create |
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core::ProblemConstPtr_t |
problem | ) |
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Return shared pointer to new object.
◆ createWithRoadmap()
static DynamicPlannerPtr_t hpp::rbprm::DynamicPlanner::createWithRoadmap |
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core::ProblemConstPtr_t |
problem, |
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const RoadmapPtr_t & |
roadmap |
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) |
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Return shared pointer to new object.
◆ extendInternal()
core::PathPtr_t hpp::rbprm::DynamicPlanner::extendInternal |
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core::ConfigurationPtr_t & |
qProj_, |
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const core::NodePtr_t & |
near, |
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const core::ConfigurationPtr_t & |
target, |
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bool |
reverse = false |
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◆ extendParabola()
core::PathPtr_t hpp::rbprm::DynamicPlanner::extendParabola |
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const core::ConfigurationPtr_t & |
from, |
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const core::ConfigurationPtr_t & |
target, |
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bool |
reverse |
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◆ finishSolve()
virtual core::PathVectorPtr_t hpp::rbprm::DynamicPlanner::finishSolve |
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const core::PathVectorPtr_t & |
path | ) |
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◆ init()
void hpp::rbprm::DynamicPlanner::init |
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const DynamicPlannerWkPtr_t & |
weak | ) |
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Store weak pointer to itself.
◆ oneStep()
virtual void hpp::rbprm::DynamicPlanner::oneStep |
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◆ roadmap()
virtual const core::RoadmapPtr_t& hpp::rbprm::DynamicPlanner::roadmap |
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const |
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inlinevirtual |
◆ tryConnectInitAndGoals()
virtual void hpp::rbprm::DynamicPlanner::tryConnectInitAndGoals |
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Try to make direct connection between init and goal configurations, in order to avoid a random shoot.
◆ tryParabolaPath()
bool hpp::rbprm::DynamicPlanner::tryParabolaPath |
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const core::NodePtr_t & |
near, |
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core::ConfigurationPtr_t |
q_jump, |
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const core::ConfigurationPtr_t & |
target, |
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bool |
reverse, |
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core::NodePtr_t & |
x_jump, |
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core::NodePtr_t & |
nodeReached, |
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core::PathPtr_t & |
kinoPath, |
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core::PathPtr_t & |
paraPath |
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protected |
The documentation for this class was generated from the following file: