hpp::core::VisibilityPrmPlanner Class Reference

Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards. More...

#include <hpp/core/visibility-prm-planner.hh>

Inheritance diagram for hpp::core::VisibilityPrmPlanner:

Collaboration diagram for hpp::core::VisibilityPrmPlanner:

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

Protected Member Functions
	VisibilityPrmPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
	Constructor. More...
	VisibilityPrmPlanner (const Problem &problem)
	Constructor with roadmap. More...
void	init (const VisibilityPrmPlannerWkPtr_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

Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards.

Constructor & Destructor Documentation

VisibilityPrmPlanner() [1/2]

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

protected

Constructor.

VisibilityPrmPlanner() [2/2]

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

protected

Constructor with roadmap.

Member Function Documentation

create()

static VisibilityPrmPlannerPtr_t hpp::core::VisibilityPrmPlanner::create ( const Problem &  problem )

static

Return shared pointer to new object.

createWithRoadmap()

static VisibilityPrmPlannerPtr_t hpp::core::VisibilityPrmPlanner::createWithRoadmap ( const Problem &  problem, const RoadmapPtr_t &  roadmap  )

static

Return shared pointer to new object.

init()

void hpp::core::VisibilityPrmPlanner::init ( const VisibilityPrmPlannerWkPtr_t &  weak )

protected

Store weak pointer to itself.

oneStep()

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

virtual

One step of extension.

Implements hpp::core::PathPlanner.