hpp::core::PathPlanner Class Reference

Path planner. More...

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

Inheritance diagram for hpp::core::PathPlanner:

Public Member Functions
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 void	oneStep ()=0
	User implementation of one step of resolution. 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...

Protected Member Functions
	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

Path planner.

Algorithm that computes a path between an initial configuration and a set of goal configurations.

Constructor & Destructor Documentation

~PathPlanner()

virtual hpp::core::PathPlanner::~PathPlanner ( )

inlinevirtual

PathPlanner() [1/2]

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

protected

Constructor.

Create a new roadmap

PathPlanner() [2/2]

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

protected

Constructor.

Store a given roadmap.

Member Function Documentation

computePath()

PathVectorPtr_t hpp::core::PathPlanner::computePath

(

)

const

Find a path in the roadmap and transform it in trajectory.

finishSolve()

virtual PathVectorPtr_t hpp::core::PathPlanner::finishSolve ( const PathVectorPtr_t &  path )

virtual

Post processing of the resulting path.

Reimplemented in hpp::core::PlanAndOptimize.

init()

void hpp::core::PathPlanner::init ( const PathPlannerWkPtr_t &  weak )

protected

Store weak pointer to itself.

interrupt()

void hpp::core::PathPlanner::interrupt

(

)

Interrupt path planning.

maxIterations()

void hpp::core::PathPlanner::maxIterations

(

const unsigned long int &

n

)

Set maximal number of iterations.

oneStep()

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

pure virtual

User implementation of one step of resolution.

Implemented in hpp::core::pathPlanner::kPrmStar, hpp::core::BiRRTPlanner, hpp::core::PlanAndOptimize, hpp::core::VisibilityPrmPlanner, and hpp::core::DiffusingPlanner.

problem()

const Problem& hpp::core::PathPlanner::problem

(

)

const

Get problem.

roadmap()

virtual const RoadmapPtr_t& hpp::core::PathPlanner::roadmap ( ) const

virtual

Get roadmap.

solve()

virtual PathVectorPtr_t hpp::core::PathPlanner::solve ( )

virtual

Solve.

Call methods

• startSolve,
• oneStep until a solution is found,
• finishSolve. Users can implement themselves the loop to avoid being trapped in an infinite loop when no solution is found.

startSolve()

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

virtual

Initialize the problem resolution.

• Set initial and and goal nodes,
• check problem consistency

Reimplemented in hpp::core::pathPlanner::kPrmStar, hpp::core::BiRRTPlanner, and hpp::core::PlanAndOptimize.

timeOut()

void hpp::core::PathPlanner::timeOut

(

const double &

timeOut

)

set time out (in seconds)

tryConnectInitAndGoals()

virtual void hpp::core::PathPlanner::tryConnectInitAndGoals ( )

virtual

Try to connect initial and goal configurations to existing roadmap.

tryDirectPath()

virtual void hpp::core::PathPlanner::tryDirectPath ( )

virtual

Try to make direct connection between init and goal configurations, in order to avoid a random shoot.