hpp::core::pathPlanner::kPrmStar Class Reference

k-PRM* path planning algorithm as described in https://arxiv.org/pdf/1105.1186.pdf. More...

#include <hpp/core/path-planner/k-prm-star.hh>

Inheritance diagram for hpp::core::pathPlanner::kPrmStar:

Collaboration diagram for hpp::core::pathPlanner::kPrmStar:

Public Types
enum	STATE {   BUILD_ROADMAP,   LINK_NODES,   CONNECT_INIT_GOAL,   FAILURE }
	Computation step of the algorithm. More...
typedef PathPlanner	Parent_t

Public Member Functions
virtual void	startSolve ()
	Initialize the problem resolution. More...
virtual void	oneStep ()
	One step of the algorithm. More...
STATE	getComputationState () const
	get the computationnal state of the algorithm 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 kPrmStarPtr_t	create (const Problem &problem)
	Return shared pointer to new instance. More...
static kPrmStarPtr_t	createWithRoadmap (const Problem &problem, const RoadmapPtr_t &roadmap)
	Return shared pointer to new instance. More...

Static Public Attributes
static const double	kPRM
	Constant kPRM = 2 e. More...

Protected Member Functions
	kPrmStar (const Problem &problem)
	Protected constructor. More...
	kPrmStar (const Problem &problem, const RoadmapPtr_t &roadmap)
	Protected constructor. More...
void	init (const kPrmStarWkPtr_t &weak)
	Store weak pointer to itself. 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

k-PRM* path planning algorithm as described in https://arxiv.org/pdf/1105.1186.pdf.

Member Typedef Documentation

Parent_t

typedef PathPlanner hpp::core::pathPlanner::kPrmStar::Parent_t

Member Enumeration Documentation

STATE

enum hpp::core::pathPlanner::kPrmStar::STATE

Computation step of the algorithm.

Enumerator
BUILD_ROADMAP
LINK_NODES
CONNECT_INIT_GOAL
FAILURE

Constructor & Destructor Documentation

kPrmStar() [1/2]

hpp::core::pathPlanner::kPrmStar::kPrmStar ( const Problem &  problem )

protected

Protected constructor.

Parameters

problem

the path planning problem

kPrmStar() [2/2]

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

protected

Protected constructor.

Parameters

problem	the path planning problem
roadmap	previously built roadmap

Member Function Documentation

create()

static kPrmStarPtr_t hpp::core::pathPlanner::kPrmStar::create ( const Problem &  problem )

static

Return shared pointer to new instance.

Parameters

problem

the path planning problem

createWithRoadmap()

static kPrmStarPtr_t hpp::core::pathPlanner::kPrmStar::createWithRoadmap ( const Problem &  problem, const RoadmapPtr_t &  roadmap  )

static

Return shared pointer to new instance.

Parameters

problem	the path planning problem
roadmap	previously built roadmap

getComputationState()

STATE hpp::core::pathPlanner::kPrmStar::getComputationState

(

)

const

get the computationnal state of the algorithm

init()

void hpp::core::pathPlanner::kPrmStar::init ( const kPrmStarWkPtr_t &  weak )

protected

Store weak pointer to itself.

oneStep()

virtual void hpp::core::pathPlanner::kPrmStar::oneStep ( )

virtual

One step of the algorithm.

Implements hpp::core::PathPlanner.

startSolve()

virtual void hpp::core::pathPlanner::kPrmStar::startSolve ( )

virtual

Initialize the problem resolution.

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

Reimplemented from hpp::core::PathPlanner.

Member Data Documentation

kPRM

const double hpp::core::pathPlanner::kPrmStar::kPRM

static

Constant kPRM = 2 e.