Path planner and optimizer. More...

#include <hpp/core/plan-and-optimize.hh>

Inheritance diagram for hpp::core::PlanAndOptimize:

Collaboration diagram for hpp::core::PlanAndOptimize:

Public Member Functions
virtual void	startSolve ()
	Call internal path planner implementation. More...

virtual void	oneStep ()
	One iteration of path planning or path optimization. More...

virtual PathVectorPtr_t	finishSolve (const PathVectorPtr_t &path)
	Optimize planned path. More...

void	addPathOptimizer (const PathOptimizerPtr_t &optimizer)

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...

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 PlanAndOptimizePtr_t	create (const PathPlannerPtr_t &pathPlanner)
	Return shared pointer to new object. More...

Protected Member Functions
	PlanAndOptimize (const PathPlannerPtr_t &pathPlanner)

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

Path planner and optimizer.

Plans a path and iteratively applies a series of optimizer on the result.

Constructor & Destructor Documentation

hpp::core::PlanAndOptimize::PlanAndOptimize ( const PathPlannerPtr_t & pathPlanner )

protected

void hpp::core::PlanAndOptimize::addPathOptimizer ( const PathOptimizerPtr_t & optimizer )

static PlanAndOptimizePtr_t hpp::core::PlanAndOptimize::create ( const PathPlannerPtr_t & pathPlanner )

static

Return shared pointer to new object.

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

virtual

Optimize planned path.

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

virtual

One iteration of path planning or path optimization.

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

virtual

Call internal path planner implementation.