hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
Loading...
Searching...
No Matches
hpp::core::pathPlanner::SearchInRoadmap Class Reference

#include <hpp/core/path-planner/search-in-roadmap.hh>

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

Public Member Functions

virtual void tryConnectInitAndGoals ()
 This methods does nothing.
 
virtual void oneStep ()
 This methods does nothing.
 
- Public Member Functions inherited from hpp::core::PathPlanner
virtual ~PathPlanner ()
 
virtual const RoadmapPtr_troadmap () const
 Get roadmap.
 
ProblemConstPtr_t problem () const
 Get problem.
 
virtual void startSolve ()
 
virtual PathVectorPtr_t solve ()
 
virtual PathVectorPtr_t finishSolve (const PathVectorPtr_t &path)
 Post processing of the resulting path.
 
void interrupt ()
 Interrupt path planning.
 
void maxIterations (const unsigned long int &n)
 Set maximal number of iterations.
 
unsigned long int maxIterations () const
 Get maximal number of iterations.
 
void timeOut (const double &timeOut)
 set time out (in seconds)
 
double timeOut () const
 Get time out.
 
void stopWhenProblemIsSolved (bool enable)
 
PathVectorPtr_t computePath () const
 Find a path in the roadmap and transform it in trajectory.
 

Static Public Member Functions

static SearchInRoadmapPtr_t createWithRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
 

Protected Member Functions

 SearchInRoadmap (const ProblemConstPtr_t &problem)
 
 SearchInRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
 
- 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.
 

Detailed Description

Search in the roadmap without modifying it and without trying a direct connection priorly

This planner is especially useful in some applications where the roadmap is constructed externally like in coverage planning. This planner will return a path if one exists in the roadmap or throw otherwise.

Note
One shortcoming of this planner (as all other planners), if the initial configuration is the same as a goal configuration, the planner will return a path of length 0. This is not desirable in coverage planning applications.

Constructor & Destructor Documentation

◆ SearchInRoadmap() [1/2]

hpp::core::pathPlanner::SearchInRoadmap::SearchInRoadmap ( const ProblemConstPtr_t problem)
inlineprotected

◆ SearchInRoadmap() [2/2]

hpp::core::pathPlanner::SearchInRoadmap::SearchInRoadmap ( const ProblemConstPtr_t problem,
const RoadmapPtr_t roadmap 
)
inlineprotected

Member Function Documentation

◆ createWithRoadmap()

static SearchInRoadmapPtr_t hpp::core::pathPlanner::SearchInRoadmap::createWithRoadmap ( const ProblemConstPtr_t problem,
const RoadmapPtr_t roadmap 
)
inlinestatic

◆ oneStep()

virtual void hpp::core::pathPlanner::SearchInRoadmap::oneStep ( )
inlinevirtual

This methods does nothing.

Implements hpp::core::PathPlanner.

◆ tryConnectInitAndGoals()

virtual void hpp::core::pathPlanner::SearchInRoadmap::tryConnectInitAndGoals ( )
inlinevirtual

This methods does nothing.

Reimplemented from hpp::core::PathPlanner.


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