hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/path-planner/search-in-roadmap.hh>
Public Member Functions | |
virtual void | tryConnectInitAndGoals () |
This methods does nothing. | |
virtual void | oneStep () |
This methods does nothing. | |
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virtual | ~PathPlanner () |
virtual const RoadmapPtr_t & | roadmap () 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) | |
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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. | |
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.
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inlineprotected |
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inlineprotected |
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inlinestatic |
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inlinevirtual |
This methods does nothing.
Implements hpp::core::PathPlanner.
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inlinevirtual |
This methods does nothing.
Reimplemented from hpp::core::PathPlanner.