hpp-core: include/hpp/core/diffusing-planner.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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diffusing-planner.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Florent Lamiraux
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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28// DAMAGE.
29
30#ifndef HPP_CORE_DIFFUSING_PLANNER_HH
31#define HPP_CORE_DIFFUSING_PLANNER_HH
32
33#include <hpp/core/path-planner.hh>
34
35namespace hpp {
36namespace core {
39
41 class HPP_CORE_DLLAPI DiffusingPlanner : public PathPlanner {
42 public:
43 typedef PathPlanner Parent_t;
45 static DiffusingPlannerPtr_t createWithRoadmap(
46 const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
48 static DiffusingPlannerPtr_t create(const ProblemConstPtr_t& problem);
52 virtual void startSolve();
54 virtual void oneStep();
56 void configurationShooter(const ConfigurationShooterPtr_t& shooter);
57
58 protected:
60 DiffusingPlanner(const ProblemConstPtr_t& problem,
61 const RoadmapPtr_t& roadmap);
63 DiffusingPlanner(const ProblemConstPtr_t& problem);
65 void init(const DiffusingPlannerWkPtr_t& weak);
69 virtual PathPtr_t extend(const NodePtr_t& near, ConfigurationIn_t target);
70
71 private:
72 ConfigurationShooterPtr_t configurationShooter_;
73 mutable Configuration_t qProj_;
74 DiffusingPlannerWkPtr_t weakPtr_;
75};
77} // namespace core
78} // namespace hpp
79#endif // HPP_CORE_DIFFUSING_PLANNER_HH
hpp::core::DiffusingPlanner
Generic implementation of RRT algorithm.
Definition diffusing-planner.hh:41
hpp::core::DiffusingPlanner::DiffusingPlanner
DiffusingPlanner(const ProblemConstPtr_t &problem)
Constructor with roadmap.
hpp::core::DiffusingPlanner::create
static DiffusingPlannerPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
hpp::core::DiffusingPlanner::Parent_t
PathPlanner Parent_t
Definition diffusing-planner.hh:43
hpp::core::DiffusingPlanner::init
void init(const DiffusingPlannerWkPtr_t &weak)
Store weak pointer to itself.
hpp::core::DiffusingPlanner::extend
virtual PathPtr_t extend(const NodePtr_t &near, ConfigurationIn_t target)
hpp::core::DiffusingPlanner::oneStep
virtual void oneStep()
One step of extension.
hpp::core::DiffusingPlanner::configurationShooter
void configurationShooter(const ConfigurationShooterPtr_t &shooter)
Set configuration shooter.
hpp::core::DiffusingPlanner::startSolve
virtual void startSolve()
hpp::core::DiffusingPlanner::DiffusingPlanner
DiffusingPlanner(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Constructor.
hpp::core::DiffusingPlanner::createWithRoadmap
static DiffusingPlannerPtr_t createWithRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Return shared pointer to new object.
hpp::core::Node
Definition node.hh:46
hpp::core::PathPlanner
Definition path-planner.hh:45
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::ConfigurationShooterPtr_t
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition fwd.hh:113
hpp::core::RoadmapPtr_t
shared_ptr< Roadmap > RoadmapPtr_t
Definition fwd.hh:199
hpp::core::DiffusingPlannerPtr_t
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition fwd.hh:140
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
Definition fwd.hh:187
path-planner.hh