hpp::core::BiRRTPlanner Class Reference

Implementation of directional bi-RRT algorithm maintaining only two connected components for respectively the start and goal configurations. More...

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

Inheritance diagram for hpp::core::BiRRTPlanner:

Collaboration diagram for hpp::core::BiRRTPlanner:

Public Member Functions
virtual void	startSolve ()
	One step of extension. More...
virtual void	oneStep ()
	One step of extension. More...
Public Member Functions inherited from hpp::core::PathPlanner
virtual	~PathPlanner ()
virtual const RoadmapPtr_t &	roadmap () const
	Get roadmap. More...
const Problem &	problem () const
	Get problem. More...
virtual PathVectorPtr_t	solve ()
	Solve. More...
virtual void	tryDirectPath () HPP_CORE_DEPRECATED
	Try to make direct connection between init and goal configurations, in order to avoid a random shoot. More...
virtual void	tryConnectInitAndGoals ()
	Try to connect initial and goal configurations to existing roadmap. More...
virtual PathVectorPtr_t	finishSolve (const PathVectorPtr_t &path)
	Post processing of the resulting path. More...
void	interrupt ()
	Interrupt path planning. More...
void	maxIterations (const unsigned long int &n)
	Set maximal number of iterations. More...
void	timeOut (const double &timeOut)
	set time out (in seconds) More...
PathVectorPtr_t	computePath () const
	Find a path in the roadmap and transform it in trajectory. More...

Static Public Member Functions
static BiRRTPlannerPtr_t	createWithRoadmap (const Problem &problem, const RoadmapPtr_t &roadmap)
	Return shared pointer to new object. More...
static BiRRTPlannerPtr_t	create (const Problem &problem)
	Return shared pointer to new object. More...

Protected Member Functions
	BiRRTPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
	Constructor. More...
	BiRRTPlanner (const Problem &problem)
	Constructor with roadmap. More...
void	init (const BiRRTPlannerWkPtr_t &weak)
	Store weak pointer to itself. More...
PathPtr_t	extendInternal (const SteeringMethodPtr_t &sm, Configuration_t &qProj_, const NodePtr_t &near, const Configuration_t &target, bool reverse=false)
Protected Member Functions inherited from hpp::core::PathPlanner
	PathPlanner (const Problem &problem)
	Constructor. More...
	PathPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
	Constructor. More...
void	init (const PathPlannerWkPtr_t &weak)
	Store weak pointer to itself. More...

Protected Attributes
ConfigurationShooterPtr_t	configurationShooter_
ConnectedComponentPtr_t	startComponent_
std::vector< ConnectedComponentPtr_t >	endComponents_

Detailed Description

Implementation of directional bi-RRT algorithm maintaining only two connected components for respectively the start and goal configurations.

Constructor & Destructor Documentation

BiRRTPlanner() [1/2]

hpp::core::BiRRTPlanner::BiRRTPlanner ( const Problem &  problem, const RoadmapPtr_t &  roadmap  )

protected

Constructor.

BiRRTPlanner() [2/2]

hpp::core::BiRRTPlanner::BiRRTPlanner ( const Problem &  problem )

protected

Constructor with roadmap.

Member Function Documentation

create()

static BiRRTPlannerPtr_t hpp::core::BiRRTPlanner::create ( const Problem &  problem )

static

Return shared pointer to new object.

createWithRoadmap()

static BiRRTPlannerPtr_t hpp::core::BiRRTPlanner::createWithRoadmap ( const Problem &  problem, const RoadmapPtr_t &  roadmap  )

static

Return shared pointer to new object.

extendInternal()

PathPtr_t hpp::core::BiRRTPlanner::extendInternal ( const SteeringMethodPtr_t &  sm, Configuration_t &  qProj_, const NodePtr_t &  near, const Configuration_t &  target, bool  reverse = false  )

protected

init()

void hpp::core::BiRRTPlanner::init ( const BiRRTPlannerWkPtr_t &  weak )

protected

Store weak pointer to itself.

oneStep()

virtual void hpp::core::BiRRTPlanner::oneStep ( )

virtual

One step of extension.

Implements hpp::core::PathPlanner.

startSolve()

virtual void hpp::core::BiRRTPlanner::startSolve ( )

virtual

One step of extension.

Reimplemented from hpp::core::PathPlanner.

Member Data Documentation

configurationShooter_

ConfigurationShooterPtr_t hpp::core::BiRRTPlanner::configurationShooter_

protected

endComponents_

std::vector<ConnectedComponentPtr_t> hpp::core::BiRRTPlanner::endComponents_

protected

startComponent_

ConnectedComponentPtr_t hpp::core::BiRRTPlanner::startComponent_

protected