#include <hpp/core/path-planner/search-in-roadmap.hh>

Inheritance diagram for hpp::core::pathPlanner::SearchInRoadmap:

Collaboration diagram for hpp::core::pathPlanner::SearchInRoadmap:

Public Member Functions
virtual void	tryConnectInitAndGoals ()
	This methods does nothing.
virtual void	oneStep ()
	This methods does nothing.
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 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 SearchInRoadmapPtr_t	createWithRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)

Protected Member Functions
	SearchInRoadmap (const ProblemConstPtr_t &problem)
	SearchInRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
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

Search in the roadmap without modifying it and without trying a direct connection priorly

This planner is especially useful in some applications where the roadmap is constructed externally like in coverage planning. This planner will return a path if one exists in the roadmap or throw otherwise.

Note: One shortcoming of this planner (as all other planners), if the initial configuration is the same as a goal configuration, the planner will return a path of length 0. This is not desirable in coverage planning applications.

Constructor & Destructor Documentation

◆ SearchInRoadmap() [1/2]

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

inlineprotected

◆ SearchInRoadmap() [2/2]

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

inlineprotected

Member Function Documentation

◆ createWithRoadmap()

SearchInRoadmapPtr_t hpp::core::pathPlanner::SearchInRoadmap::createWithRoadmap	(	const ProblemConstPtr_t &	problem,
		const RoadmapPtr_t &	roadmap )

inlinestatic

◆ oneStep()

virtual void hpp::core::pathPlanner::SearchInRoadmap::oneStep ( )

inlinevirtual

This methods does nothing.

Implements hpp::core::PathPlanner.

◆ tryConnectInitAndGoals()

virtual void hpp::core::pathPlanner::SearchInRoadmap::tryConnectInitAndGoals ( )

inlinevirtual

This methods does nothing.

Reimplemented from hpp::core::PathPlanner.

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

include/hpp/core/path-planner/search-in-roadmap.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions