hpp::core::PlanAndOptimize Class Reference

#include <hpp/core/plan-and-optimize.hh>

Inheritance diagram for hpp::core::PlanAndOptimize:

Collaboration diagram for hpp::core::PlanAndOptimize:

Public Member Functions
virtual void	startSolve ()
	Call internal path planner implementation.
virtual void	oneStep ()
	One iteration of path planning or path optimization.
virtual PathVectorPtr_t	finishSolve (const PathVectorPtr_t &path)
	Optimize planned path.
void	addPathOptimizer (const PathOptimizerPtr_t &optimizer)
Public Member Functions inherited from hpp::core::PathPlanner
virtual	~PathPlanner ()
virtual const RoadmapPtr_t &	roadmap () const
	Get roadmap.
ProblemConstPtr_t	problem () const
	Get problem.
virtual PathVectorPtr_t	solve ()
virtual void	tryConnectInitAndGoals ()
	Try to connect initial and goal configurations to existing roadmap.
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 PlanAndOptimizePtr_t	create (const PathPlannerPtr_t &pathPlanner)
	Return shared pointer to new object.

Protected Member Functions
	PlanAndOptimize (const PathPlannerPtr_t &pathPlanner)
Protected Member Functions inherited from hpp::core::PathPlanner
	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.

Detailed Description

Path planner and optimizer

Plans a path and iteratively applies a series of optimizer on the result.

Constructor & Destructor Documentation

PlanAndOptimize()

hpp::core::PlanAndOptimize::PlanAndOptimize ( const PathPlannerPtr_t & pathPlanner )

protected

Member Function Documentation

addPathOptimizer()

void hpp::core::PlanAndOptimize::addPathOptimizer

(

const PathOptimizerPtr_t &

optimizer

)

create()

PlanAndOptimizePtr_t hpp::core::PlanAndOptimize::create ( const PathPlannerPtr_t & pathPlanner )

static

Return shared pointer to new object.

finishSolve()

virtual PathVectorPtr_t hpp::core::PlanAndOptimize::finishSolve ( const PathVectorPtr_t & path )

virtual

Optimize planned path.

Reimplemented from hpp::core::PathPlanner.

oneStep()

virtual void hpp::core::PlanAndOptimize::oneStep ( )

virtual

One iteration of path planning or path optimization.

Implements hpp::core::PathPlanner.

startSolve()

virtual void hpp::core::PlanAndOptimize::startSolve ( )

virtual

Call internal path planner implementation.

Reimplemented from hpp::core::PathPlanner.

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The documentation for this class was generated from the following file:

• include/hpp/core/plan-and-optimize.hh