Path_planner

Classes
class	hpp::manipulation::pathPlanner::StatesPathFinder
class	hpp::manipulation::pathPlanner::TransitionPlanner

Typedefs
typedef core::PathPlannerPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::PathPlannerPtr_t
typedef core::PathProjectorPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::PathProjectorPtr_t
typedef core::PathPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::PathPtr_t
typedef core::PathOptimizerPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::PathOptimizerPtr_t
typedef core::PathVector	hpp::manipulation::pathPlanner::TransitionPlanner::PathVector
typedef core::PathVectorPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::PathVectorPtr_t
typedef core::Parameter	hpp::manipulation::pathPlanner::TransitionPlanner::Parameter

Functions
static TransitionPlannerPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::createWithRoadmap (const roadmap)
	Create instance and return share pointer.
PathPlannerPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::innerPlanner () const
	Get the inner planner.
void	hpp::manipulation::pathPlanner::TransitionPlanner::innerPlanner (const PathPlannerPtr_t &planner)
	Set the inner planner.
core::ProblemPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::innerProblem () const
	Get the inner problem.
virtual void	hpp::manipulation::pathPlanner::TransitionPlanner::startSolve ()
virtual void	hpp::manipulation::pathPlanner::TransitionPlanner::oneStep ()
PathVectorPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::planPath (const Configuration_t qInit, matrixIn_t qGoals, bool resetRoadmap)
PathPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::directPath (ConfigurationIn_t q1, ConfigurationIn_t q2, bool validate, bool &success, std::string &status)
bool	hpp::manipulation::pathPlanner::TransitionPlanner::validateConfiguration (ConfigurationIn_t q, std::size_t id, core::ValidationReportPtr_t &report) const
PathVectorPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::optimizePath (const PathPtr_t &path)
PathVectorPtr_t	hpp::manipulation::pathPlanner::TransitionPlanner::timeParameterization (const PathVectorPtr_t &path)
void	hpp::manipulation::pathPlanner::TransitionPlanner::setEdge (std::size_t id)
void	hpp::manipulation::pathPlanner::TransitionPlanner::setEdge (const graph::EdgePtr_t &transition)
void	hpp::manipulation::pathPlanner::TransitionPlanner::setReedsAndSheppSteeringMethod (double turningRadius)
	Create a Reeds and Shepp steering method and path it to the problem.
void	hpp::manipulation::pathPlanner::TransitionPlanner::pathProjector (const PathProjectorPtr_t pathProjector)
	Set the path projector.
void	hpp::manipulation::pathPlanner::TransitionPlanner::clearPathOptimizers ()
	Clear path optimizers.
void	hpp::manipulation::pathPlanner::TransitionPlanner::addPathOptimizer (const PathOptimizerPtr_t &pathOptimizer)
void	hpp::manipulation::pathPlanner::TransitionPlanner::setParameter (const std::string &key, const Parameter &value)
	Set parameter to the inner problem.
	hpp::manipulation::pathPlanner::TransitionPlanner::TransitionPlanner (const roadmap)
void	hpp::manipulation::pathPlanner::TransitionPlanner::init (TransitionPlannerWkPtr_t weak)
	store weak pointer to itself

Detailed Description

Typedef Documentation

Parameter

typedef core::Parameter hpp::manipulation::pathPlanner::TransitionPlanner::Parameter

PathOptimizerPtr_t

typedef core::PathOptimizerPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathOptimizerPtr_t

PathPlannerPtr_t

typedef core::PathPlannerPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathPlannerPtr_t

PathProjectorPtr_t

typedef core::PathProjectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathProjectorPtr_t

PathPtr_t

typedef core::PathPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathPtr_t

PathVector

typedef core::PathVector hpp::manipulation::pathPlanner::TransitionPlanner::PathVector

PathVectorPtr_t

typedef core::PathVectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::PathVectorPtr_t

Function Documentation

addPathOptimizer()

void hpp::manipulation::pathPlanner::TransitionPlanner::addPathOptimizer

(

const PathOptimizerPtr_t &

pathOptimizer

)

Add a path optimizer

Note

The input path optimizer should have been constructed with the inner problem of this class.

clearPathOptimizers()

void hpp::manipulation::pathPlanner::TransitionPlanner::clearPathOptimizers

(

)

Clear path optimizers.

createWithRoadmap()

TransitionPlannerPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::createWithRoadmap ( const core::ProblemConstPtr_t & problem, const core::RoadmapPtr_t & roadmap )

static

Create instance and return share pointer.

directPath()

PathPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::directPath	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		bool	validate,
		bool &	success,
		std::string &	status )

Call the steering method between two configurations

Parameters

q1,q2	the start and end configurations,
validate	whether resulting path should be tested for collision

Return values

success	True if path has been computed and validated successfully
status	a message in case of failure. If a path projector has been selected, the path is tested for continuity.

init()

void hpp::manipulation::pathPlanner::TransitionPlanner::init ( TransitionPlannerWkPtr_t weak )

protected

store weak pointer to itself

innerPlanner() [1/2]

PathPlannerPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::innerPlanner ( ) const

inline

Get the inner planner.

innerPlanner() [2/2]

void hpp::manipulation::pathPlanner::TransitionPlanner::innerPlanner ( const PathPlannerPtr_t & planner )

inline

Set the inner planner.

innerProblem()

core::ProblemPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::innerProblem ( ) const

inline

Get the inner problem.

oneStep()

virtual void hpp::manipulation::pathPlanner::TransitionPlanner::oneStep ( )

virtual

One step of the planner Calls the same method of the internally stored planner

Implements hpp::core::PathPlanner.

optimizePath()

PathVectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::optimizePath

(

const PathPtr_t &

path

)

Optimize path using the selected path optimizers

Parameters

path	input path

Returns

optimized path

pathProjector()

void hpp::manipulation::pathPlanner::TransitionPlanner::pathProjector

(

const PathProjectorPtr_t

pathProjector

)

Set the path projector.

planPath()

PathVectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::planPath	(	const Configuration_t	qInit,
		matrixIn_t	qGoals,
		bool	resetRoadmap )

Solve the problem defined by input configurations

Parameters

qInit	initial configuration,
qGoals,goal	configurations,
resetRoadmap	whether to reset the roadmap

setEdge() [1/2]

void hpp::manipulation::pathPlanner::TransitionPlanner::setEdge

(

const graph::EdgePtr_t &

transition

)

Set transition along which we wish to plan a path

Parameters

transition

shared pointer to the transition

setEdge() [2/2]

void hpp::manipulation::pathPlanner::TransitionPlanner::setEdge

(

std::size_t

id

)

Set transition along which we wish to plan a path

Parameters

id	index of the edge in the constraint graph

setParameter()

void hpp::manipulation::pathPlanner::TransitionPlanner::setParameter	(	const std::string &	key,
		const Parameter &	value )

Set parameter to the inner problem.

setReedsAndSheppSteeringMethod()

void hpp::manipulation::pathPlanner::TransitionPlanner::setReedsAndSheppSteeringMethod

(

double

turningRadius

)

Create a Reeds and Shepp steering method and path it to the problem.

startSolve()

virtual void hpp::manipulation::pathPlanner::TransitionPlanner::startSolve ( )

virtual

Initialize path planning Set right hand side of problem constraints with initial configuration

Reimplemented from hpp::core::PathPlanner.

timeParameterization()

PathVectorPtr_t hpp::manipulation::pathPlanner::TransitionPlanner::timeParameterization

(

const PathVectorPtr_t &

path

)

Compute time parameterization of path

Parameters

path	input path

Returns

time parameterized trajectory Uses core::pathOptimization::SimpleTimeParameterization.

TransitionPlanner()

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

protected

Constructor Cast problem into manipulation::Problem and store shared pointer

Create an inner problem and forward the following elements of the input problem to the inner problem:

• parameters,
• collision obstacles. Add instances of core::JointBoundValidation to the inner problem.

validateConfiguration()

bool hpp::manipulation::pathPlanner::TransitionPlanner::validateConfiguration	(	ConfigurationIn_t	q,
		std::size_t	id,
		core::ValidationReportPtr_t &	report ) const

Validate a configuration with the path validation of an edge.

Parameters

q	configuration to validate,
id	index of the edge in the constraint graph.