hpp::core::DiffusingPlanner Class Reference

Generic implementation of RRT algorithm. More...

#include <hpp/core/diffusing-planner.hh>

Inheritance diagram for hpp::core::DiffusingPlanner:

Collaboration diagram for hpp::core::DiffusingPlanner:

Public Member Functions
virtual void	oneStep ()
	One step of extension. More...
void	configurationShooter (const ConfigurationShooterPtr_t &shooter)
	Set configuration shooter. 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 void	startSolve ()
	Initialize the problem resolution. 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 DiffusingPlannerPtr_t	createWithRoadmap (const Problem &problem, const RoadmapPtr_t &roadmap)
	Return shared pointer to new object. More...
static DiffusingPlannerPtr_t	create (const Problem &problem)
	Return shared pointer to new object. More...

Protected Member Functions
	DiffusingPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
	Constructor. More...
	DiffusingPlanner (const Problem &problem)
	Constructor with roadmap. More...
void	init (const DiffusingPlannerWkPtr_t &weak)
	Store weak pointer to itself. More...
virtual PathPtr_t	extend (const NodePtr_t &near, const Configuration_t &target)
	Extend a node in the direction of a configuration. More...
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...

Detailed Description

Generic implementation of RRT algorithm.

Constructor & Destructor Documentation

DiffusingPlanner() [1/2]

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

protected

Constructor.

DiffusingPlanner() [2/2]

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

protected

Constructor with roadmap.

Member Function Documentation

configurationShooter()

void hpp::core::DiffusingPlanner::configurationShooter

(

const ConfigurationShooterPtr_t &

shooter

)

Set configuration shooter.

create()

static DiffusingPlannerPtr_t hpp::core::DiffusingPlanner::create ( const Problem &  problem )

static

Return shared pointer to new object.

createWithRoadmap()

static DiffusingPlannerPtr_t hpp::core::DiffusingPlanner::createWithRoadmap ( const Problem &  problem, const RoadmapPtr_t &  roadmap  )

static

Return shared pointer to new object.

extend()

virtual PathPtr_t hpp::core::DiffusingPlanner::extend ( const NodePtr_t &  near, const Configuration_t &  target  )

protectedvirtual

Extend a node in the direction of a configuration.

Parameters

near	node in the roadmap,
target	target configuration

init()

void hpp::core::DiffusingPlanner::init ( const DiffusingPlannerWkPtr_t &  weak )

protected

Store weak pointer to itself.

oneStep()

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

virtual

One step of extension.

Implements hpp::core::PathPlanner.