hpp::core::VisibilityPrmPlanner Class Reference

#include <hpp/core/visibility-prm-planner.hh>

Inheritance diagram for hpp::core::VisibilityPrmPlanner:

Collaboration diagram for hpp::core::VisibilityPrmPlanner:

Public Member Functions
virtual void	oneStep ()
	One step of extension.
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 void	startSolve ()
virtual PathVectorPtr_t	solve ()
virtual void	tryConnectInitAndGoals ()
	Try to connect initial and goal configurations to existing roadmap.
virtual PathVectorPtr_t	finishSolve (const PathVectorPtr_t &path)
	Post processing of the resulting path.
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 VisibilityPrmPlannerPtr_t	createWithRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
	Return shared pointer to new object.
static VisibilityPrmPlannerPtr_t	create (const ProblemConstPtr_t &problem)
	Return shared pointer to new object.

Protected Member Functions
	VisibilityPrmPlanner (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
	Constructor.
	VisibilityPrmPlanner (const ProblemConstPtr_t &problem)
	Constructor with roadmap.
void	init (const VisibilityPrmPlannerWkPtr_t &weak)
	Store weak pointer to itself.
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

Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards.

Constructor & Destructor Documentation

VisibilityPrmPlanner() [1/2]

hpp::core::VisibilityPrmPlanner::VisibilityPrmPlanner ( const ProblemConstPtr_t & problem, const RoadmapPtr_t & roadmap )

protected

Constructor.

VisibilityPrmPlanner() [2/2]

hpp::core::VisibilityPrmPlanner::VisibilityPrmPlanner ( const ProblemConstPtr_t & problem )

protected

Constructor with roadmap.

Member Function Documentation

create()

VisibilityPrmPlannerPtr_t hpp::core::VisibilityPrmPlanner::create ( const ProblemConstPtr_t & problem )

static

Return shared pointer to new object.

createWithRoadmap()

VisibilityPrmPlannerPtr_t hpp::core::VisibilityPrmPlanner::createWithRoadmap ( const ProblemConstPtr_t & problem, const RoadmapPtr_t & roadmap )

static

Return shared pointer to new object.

init()

void hpp::core::VisibilityPrmPlanner::init ( const VisibilityPrmPlannerWkPtr_t & weak )

protected

Store weak pointer to itself.

oneStep()

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

virtual

One step of extension.

Implements hpp::core::PathPlanner.

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

• include/hpp/core/visibility-prm-planner.hh