hpp-rbprm
4.10.0
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_DYNAMIC_PLANNER_HH
20 # define HPP_RBPRM_DYNAMIC_PLANNER_HH
22 # include <hpp/core/bi-rrt-planner.hh>
39 using core::RoadmapPtr_t;
41 using core::PathPtr_t;
42 using core::Configuration_t;
50 (
const Problem& problem,
const RoadmapPtr_t&
roadmap);
60 virtual const core::RoadmapPtr_t&
roadmap ()
const{
64 virtual core::PathVectorPtr_t
finishSolve (
const core::PathVectorPtr_t& path);
73 void init (
const DynamicPlannerWkPtr_t& weak);
80 void computeGIWC(
const core::NodePtr_t x, core::ValidationReportPtr_t report);
86 void computeGIWC(
const core::NodePtr_t x,
bool use_bestReport =
true);
88 core::PathPtr_t
extendInternal (core::ConfigurationPtr_t& qProj_,
const core::NodePtr_t& near,
89 const core::ConfigurationPtr_t& target,
bool reverse=
false);
91 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& paraPath);
93 core::PathPtr_t
extendParabola (
const core::ConfigurationPtr_t &from,
94 const core::ConfigurationPtr_t& target,
bool reverse);
100 core::ConfigurationPtr_t qProj_;
101 DynamicPlannerWkPtr_t weakPtr_;
102 const core::RoadmapPtr_t roadmap_;
106 double sizeFootX_,sizeFootY_;
107 bool rectangularContact_;
114 #endif // HPP_RBPRM_DYNAMIC_PLANNER_HH
HPP_PREDEF_CLASS(RbPrmFullBody)
virtual core::PathVectorPtr_t finishSolve(const core::PathVectorPtr_t &path)
void computeGIWC(const core::NodePtr_t x, core::ValidationReportPtr_t report)
computeGIWC compute the GIWC for the node configuration and fill the node attribut
virtual void tryConnectInitAndGoals()
Generic implementation of RRT algorithm.
Definition: dynamic-planner.hh:45
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)
void init(const DynamicPlannerWkPtr_t &weak)
Store weak pointer to itself.
boost::shared_ptr< RbPrmPathValidation > RbPrmPathValidationPtr_t
Definition: rbprm-path-validation.hh:31
virtual const core::RoadmapPtr_t & roadmap() const
Definition: dynamic-planner.hh:60
boost::shared_ptr< SteeringMethodParabola > SteeringMethodParabolaPtr_t
Definition: steering-method-parabola.hh:37
boost::shared_ptr< SteeringMethodKinodynamic > SteeringMethodKinodynamicPtr_t
Definition: rbprm-steering-kinodynamic.hh:33
core::PathPtr_t extendParabola(const core::ConfigurationPtr_t &from, const core::ConfigurationPtr_t &target, bool reverse)
DynamicPlanner(const Problem &problem, const RoadmapPtr_t &roadmap)
Constructor.
Definition: algorithm.hh:27
static DynamicPlannerPtr_t createWithRoadmap(const Problem &problem, const RoadmapPtr_t &roadmap)
Return shared pointer to new object.
virtual void oneStep()
One step of extension.
boost::shared_ptr< DynamicPlanner > DynamicPlannerPtr_t
Definition: dynamic-planner.hh:34
core::PathPtr_t extendInternal(core::ConfigurationPtr_t &qProj_, const core::NodePtr_t &near, const core::ConfigurationPtr_t &target, bool reverse=false)
static DynamicPlannerPtr_t create(const Problem &problem)
Return shared pointer to new object.