hpp::core::pathPlanner::BiRrtStar Class Reference

#include <hpp/core/path-planner/bi-rrt-star.hh>

Inheritance diagram for hpp::core::pathPlanner::BiRrtStar:

Collaboration diagram for hpp::core::pathPlanner::BiRrtStar:

Public Types
typedef PathPlanner	Parent_t

Public Member Functions
void	startSolve ()
void	oneStep ()
	One step of the algorithm.
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.
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 BiRrtStarPtr_t	create (const ProblemConstPtr_t &problem)
static BiRrtStarPtr_t	createWithRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)

Protected Member Functions
	BiRrtStar (const ProblemConstPtr_t &problem)
	BiRrtStar (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
void	init (const BiRrtStarWkPtr_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

Bi-RRT* path planning algorithm as described in http://www.golems.org/papers/AkgunIROS11-sampling.pdf

Member Typedef Documentation

Parent_t

typedef PathPlanner hpp::core::pathPlanner::BiRrtStar::Parent_t

Constructor & Destructor Documentation

BiRrtStar() [1/2]

hpp::core::pathPlanner::BiRrtStar::BiRrtStar ( const ProblemConstPtr_t & problem )

protected

Protected constructor

Parameters

problem

the path planning problem

BiRrtStar() [2/2]

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

protected

Protected constructor

Parameters

problem	the path planning problem
roadmap	previously built roadmap

Member Function Documentation

create()

BiRrtStarPtr_t hpp::core::pathPlanner::BiRrtStar::create ( const ProblemConstPtr_t & problem )

static

Return shared pointer to new instance

Parameters

problem

the path planning problem

createWithRoadmap()

BiRrtStarPtr_t hpp::core::pathPlanner::BiRrtStar::createWithRoadmap ( const ProblemConstPtr_t & problem, const RoadmapPtr_t & roadmap )

static

Return shared pointer to new instance

Parameters

problem	the path planning problem
roadmap	previously built roadmap

init()

void hpp::core::pathPlanner::BiRrtStar::init ( const BiRrtStarWkPtr_t & weak )

protected

Store weak pointer to itself.

oneStep()

void hpp::core::pathPlanner::BiRrtStar::oneStep ( )

virtual

One step of the algorithm.

Implements hpp::core::PathPlanner.

startSolve()

void hpp::core::pathPlanner::BiRrtStar::startSolve ( )

virtual

Initialize the problem resolution

• call parent implementation

Reimplemented from hpp::core::PathPlanner.

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

• include/hpp/core/path-planner/bi-rrt-star.hh