Generic implementation of RRT algorithm. More...
#include <hpp/rbprm/planner/parabola-planner.hh>
Public Member Functions | |
virtual void | oneStep () |
One step of extension. More... | |
virtual void | startSolve () |
virtual void | tryDirectPath () |
core::PathPtr_t | computeRandomParabola (core::NodePtr_t x_start, core::ConfigurationPtr_t q_target, DelayedEdges_t &delayedEdges) |
computeRandomParabola More... | |
void | configurationShooter (const core::ConfigurationShooterPtr_t &shooter) |
Set configuration shooter. More... | |
virtual const core::RoadmapPtr_t & | roadmap () const |
const core::RbprmRoadmapPtr_t & | rbprmRoadmap () const |
Static Public Member Functions | |
static ParabolaPlannerPtr_t | createWithRoadmap (const core::Problem &problem, const core::RoadmapPtr_t &roadmap) |
Return shared pointer to new object. More... | |
static ParabolaPlannerPtr_t | create (const core::Problem &problem) |
Return shared pointer to new object. More... | |
Protected Member Functions | |
ParabolaPlanner (const core::Problem &problem, const core::RoadmapPtr_t &roadmap) | |
Constructor. More... | |
ParabolaPlanner (const core::Problem &problem) | |
Constructor with roadmap. More... | |
void | init (const ParabolaPlannerWkPtr_t &weak) |
Store weak pointer to itself. More... | |
virtual core::PathPtr_t | extend (const core::NodePtr_t &near, const core::ConfigurationPtr_t &target) |
Extend a node in the direction of a configuration. More... | |
virtual core::PathPtr_t | extendParabola (const core::NodePtr_t &near, const core::ConfigurationPtr_t &target) |
Generic implementation of RRT algorithm.
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protected |
Constructor.
Referenced by rbprmRoadmap().
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protected |
Constructor with roadmap.
core::PathPtr_t hpp::rbprm::ParabolaPlanner::computeRandomParabola | ( | core::NodePtr_t | x_start, |
core::ConfigurationPtr_t | q_target, | ||
DelayedEdges_t & | delayedEdges | ||
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computeRandomParabola
x_start | initial node |
q_target | target configuration (we shoot in this direction) |
delayedEdges | delayedEdges, node and edges waiting to be added in roadmap at each iteration |
void hpp::rbprm::ParabolaPlanner::configurationShooter | ( | const core::ConfigurationShooterPtr_t & | shooter | ) |
Set configuration shooter.
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static |
Return shared pointer to new object.
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static |
Return shared pointer to new object.
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protectedvirtual |
Extend a node in the direction of a configuration.
near | node in the roadmap, |
target | target configuration |
Referenced by rbprmRoadmap().
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protectedvirtual |
Referenced by rbprmRoadmap().
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protected |
Store weak pointer to itself.
Referenced by rbprmRoadmap().
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virtual |
One step of extension.
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inline |
References extend(), extendParabola(), init(), and ParabolaPlanner().
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inlinevirtual |
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virtual |
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virtual |