hpp-rbprm
4.10.1
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>
36 using core::Configuration_t;
38 using core::PathPtr_t;
41 using core::RoadmapPtr_t;
58 virtual const core::RoadmapPtr_t&
roadmap()
const {
return roadmap_; }
60 virtual core::PathVectorPtr_t
finishSolve(
const core::PathVectorPtr_t& path);
68 void init(
const DynamicPlannerWkPtr_t& weak);
75 void computeGIWC(
const core::NodePtr_t x, core::ValidationReportPtr_t report);
82 void computeGIWC(
const core::NodePtr_t x,
bool use_bestReport =
true);
84 core::PathPtr_t
extendInternal(core::ConfigurationPtr_t& qProj_,
const core::NodePtr_t& near,
85 const core::ConfigurationPtr_t& target,
bool reverse =
false);
87 bool tryParabolaPath(
const core::NodePtr_t& near, core::ConfigurationPtr_t q_jump,
88 const core::ConfigurationPtr_t& target,
bool reverse, core::NodePtr_t& x_jump,
89 core::NodePtr_t& nodeReached, core::PathPtr_t& kinoPath, core::PathPtr_t& paraPath);
91 core::PathPtr_t
extendParabola(
const core::ConfigurationPtr_t& from,
const core::ConfigurationPtr_t& target,
95 core::ConfigurationPtr_t qProj_;
96 DynamicPlannerWkPtr_t weakPtr_;
97 const core::RoadmapPtr_t roadmap_;
101 double sizeFootX_, sizeFootY_;
102 bool rectangularContact_;
109 #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:44
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:58
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.