Path planning algorithms

Classes
class	hpp::manipulation::ManipulationPlanner
class	hpp::manipulation::pathPlanner::EndEffectorTrajectory
class	hpp::manipulation::problemTarget::State
class	hpp::manipulation::Problem

Typedefs
typedef std::vector< Configuration_t >	hpp::manipulation::pathPlanner::IkSolverInitialization::Configurations_t

Functions
Configurations_t	hpp::manipulation::pathPlanner::IkSolverInitialization::solve (vectorIn_t target)
virtual Configurations_t	hpp::manipulation::pathPlanner::IkSolverInitialization::impl_solve (vectorIn_t target)=0
static EndEffectorTrajectoryPtr_t	hpp::manipulation::pathPlanner::EndEffectorTrajectory::create (const problem)
static EndEffectorTrajectoryPtr_t	hpp::manipulation::pathPlanner::EndEffectorTrajectory::createWithRoadmap (const roadmap)
virtual void	hpp::manipulation::pathPlanner::EndEffectorTrajectory::startSolve ()
virtual void	hpp::manipulation::pathPlanner::EndEffectorTrajectory::oneStep ()
	One step of the algorithm.
int	hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig () const
void	hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig (int n)
int	hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps () const
	Number of steps to generate goal config (successive projections).
void	hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps (int n)
void	hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly (bool enable)
bool	hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly () const
void	hpp::manipulation::pathPlanner::EndEffectorTrajectory::ikSolverInitialization (IkSolverInitializationPtr_t solver)
void	hpp::manipulation::pathPlanner::EndEffectorTrajectory::tryConnectInitAndGoals ()
	hpp::manipulation::pathPlanner::EndEffectorTrajectory::EndEffectorTrajectory (const problem)
	hpp::manipulation::pathPlanner::EndEffectorTrajectory::EndEffectorTrajectory (const roadmap)
void	hpp::manipulation::pathPlanner::EndEffectorTrajectory::init (const EndEffectorTrajectoryWkPtr_t &weak)
	Store weak pointer to itself.

Detailed Description

Typedef Documentation

Configurations_t

typedef std::vector<Configuration_t> hpp::manipulation::pathPlanner::IkSolverInitialization::Configurations_t

Function Documentation

checkFeasibilityOnly() [1/2]

bool hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly ( ) const

inline

checkFeasibilityOnly() [2/2]

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly

(

bool

enable

)

If enabled, only add one solution to the roadmap. Otherwise add all solution.

create()

EndEffectorTrajectoryPtr_t hpp::manipulation::pathPlanner::EndEffectorTrajectory::create ( const core::ProblemConstPtr_t & problem )

static

Return shared pointer to new instance

Parameters

problem

the path planning problem

createWithRoadmap()

EndEffectorTrajectoryPtr_t hpp::manipulation::pathPlanner::EndEffectorTrajectory::createWithRoadmap ( const core::ProblemConstPtr_t & problem, const core::RoadmapPtr_t & roadmap )

static

Return shared pointer to new instance

Parameters

problem	the path planning problem
roadmap	previously built roadmap

EndEffectorTrajectory() [1/2]

hpp::manipulation::pathPlanner::EndEffectorTrajectory::EndEffectorTrajectory ( const core::ProblemConstPtr_t & problem )

protected

Protected constructor

Parameters

problem

the path planning problem

EndEffectorTrajectory() [2/2]

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

protected

Protected constructor

Parameters

problem	the path planning problem
roadmap	previously built roadmap

ikSolverInitialization()

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::ikSolverInitialization ( IkSolverInitializationPtr_t solver )

inline

impl_solve()

virtual Configurations_t hpp::manipulation::pathPlanner::IkSolverInitialization::impl_solve ( vectorIn_t target )

protectedpure virtual

init()

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::init ( const EndEffectorTrajectoryWkPtr_t & weak )

protected

Store weak pointer to itself.

nDiscreteSteps() [1/2]

int hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps ( ) const

inline

Number of steps to generate goal config (successive projections).

nDiscreteSteps() [2/2]

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps ( int n )

inline

nRandomConfig() [1/2]

int hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig ( ) const

inline

Get the number of random configurations shoot (after using init config) in order to generate the initial config of the final path.

nRandomConfig() [2/2]

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig ( int n )

inline

oneStep()

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

virtual

One step of the algorithm.

Implements hpp::core::PathPlanner.

solve()

Configurations_t hpp::manipulation::pathPlanner::IkSolverInitialization::solve ( vectorIn_t target )

inline

startSolve()

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

virtual

Initialize the problem resolution

• call parent implementation
• get number nodes in problem parameter map

Reimplemented from hpp::core::PathPlanner.

tryConnectInitAndGoals()

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::tryConnectInitAndGoals ( )

virtual

Reimplemented from hpp::core::PathPlanner.