hpp::manipulation::ManipulationPlanner Class Reference

#include <hpp/manipulation/manipulation-planner.hh>

Inheritance diagram for hpp::manipulation::ManipulationPlanner:

Collaboration diagram for hpp::manipulation::ManipulationPlanner:

Public Types
typedef std::list< std::size_t >	ErrorFreqs_t

Public Member Functions
virtual void	oneStep ()
bool	extend (RoadmapNodePtr_t q_near, ConfigurationIn_t q_rand, core::PathPtr_t &validPath)
ErrorFreqs_t	getEdgeStat (const graph::EdgePtr_t &edge) const
Public Member Functions inherited from hpp::core::PathPlanner
virtual	~PathPlanner ()
virtual const roadmap () const
problem () const
virtual void	startSolve ()
virtual solve ()
virtual void	tryConnectInitAndGoals ()
virtual PathVectorPtr_t &path)
void	interrupt ()
void	maxIterations (const unsigned long int &n)
unsigned long int	maxIterations () const
void	timeOut (const double &timeOut)
double	timeOut () const
void	stopWhenProblemIsSolved (bool enable)
computePath () const

Static Public Member Functions
static ManipulationPlannerPtr_t	create (const roadmap)
	Create an instance and return a shared pointer to the instance.
static StringList_t	errorList ()

Protected Member Functions
	ManipulationPlanner (const ProblemConstPtr_t &roadmap)
	Protected constructor.
void	init (const ManipulationPlannerWkPtr_t &weak)
	Store weak pointer to itself.
Protected Member Functions inherited from hpp::core::PathPlanner
	problem)
	roadmap)
void	init (const PathPlannerWkPtr_t &weak)

Member Typedef Documentation

ErrorFreqs_t

typedef std::list<std::size_t> hpp::manipulation::ManipulationPlanner::ErrorFreqs_t

Constructor & Destructor Documentation

ManipulationPlanner()

hpp::manipulation::ManipulationPlanner::ManipulationPlanner ( const ProblemConstPtr_t & problem, const RoadmapPtr_t & roadmap )

protected

Protected constructor.

Member Function Documentation

create()

ManipulationPlannerPtr_t hpp::manipulation::ManipulationPlanner::create ( const core::ProblemConstPtr_t & problem, const core::RoadmapPtr_t & roadmap )

static

Create an instance and return a shared pointer to the instance.

errorList()

StringList_t hpp::manipulation::ManipulationPlanner::errorList ( )

static

Get the list of possible outputs of the extension step.

See also

ManipulationPlanner::getEdgeStat

extend()

bool hpp::manipulation::ManipulationPlanner::extend	(	RoadmapNodePtr_t	q_near,
		ConfigurationIn_t	q_rand,
		core::PathPtr_t &	validPath )

Extend configuration q_near toward q_rand.

Parameters

q_near	the configuration to be extended.
q_rand	the configuration toward extension is performed.

Return values

validPath

the longest valid path (possibly of length 0), resulting from the extension.

Returns

True if the returned path is valid.

getEdgeStat()

ErrorFreqs_t hpp::manipulation::ManipulationPlanner::getEdgeStat

(

const graph::EdgePtr_t &

edge

)

const

Get the number of occurrence of each errors.

See also

ManipulationPlanner::errorList

init()

void hpp::manipulation::ManipulationPlanner::init ( const ManipulationPlannerWkPtr_t & weak )

protected

Store weak pointer to itself.

oneStep()

virtual void hpp::manipulation::ManipulationPlanner::oneStep ( )

virtual

One step of extension.

A set of constraints is chosen using the graph of constraints. A constraint extension is done using a chosen set.

Implements hpp::core::PathPlanner.

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

• include/hpp/manipulation/manipulation-planner.hh