#include <hpp/manipulation/manipulation-planner.hh>

Inheritance diagram for hpp::manipulation::ManipulationPlanner:

Collaboration diagram for hpp::manipulation::ManipulationPlanner:

Classes
struct	Reasons
Public Member Functions
virtual void	oneStep ()
	One step of extension.
bool	extend (const core::NodePtr_t &q_near, const ConfigurationPtr_t &q_rand, core::PathPtr_t &validPath)
	Extend a the configuration q_near toward q_rand.
Static Public Member Functions
static ManipulationPlannerPtr_t	create (const core::Problem &problem, const core::RoadmapPtr_t &roadmap)
	Create an instance and return a shared pointer to the instance.
Protected Member Functions
	ManipulationPlanner (const Problem &problem, const core::RoadmapPtr_t &roadmap)
	Protected constructor.
void	init (const ManipulationPlannerWkPtr_t &weak)
	Store weak pointer to itself.

Constructor & Destructor Documentation

hpp::manipulation::ManipulationPlanner::ManipulationPlanner	(	const Problem &	problem,
		const core::RoadmapPtr_t &	roadmap
	)		`[protected]`

Protected constructor.

Member Function Documentation

static ManipulationPlannerPtr_t hpp::manipulation::ManipulationPlanner::create	(	const core::Problem &	problem,
		const core::RoadmapPtr_t &	roadmap
	)		`[static]`

Create an instance and return a shared pointer to the instance.

bool hpp::manipulation::ManipulationPlanner::extend	(	const core::NodePtr_t &	q_near,
		const ConfigurationPtr_t &	q_rand,
		core::PathPtr_t &	validPath
	)

Extend a the configuration q_near toward q_rand.

Parameters:

q_near	the configuration to be extended.
q_rand	the configuration toward extension is performed.

Return values:

validPath the longest valid path (possibly of length 0), resulting from the extension.

void hpp::manipulation::ManipulationPlanner::init ( const ManipulationPlannerWkPtr_t & weak ) [protected]

Store weak pointer to itself.

virtual void hpp::manipulation::ManipulationPlanner::oneStep ( ) [virtual]

One step of extension.

A set of constraints is choosen using the graph of constraints. A constraint extension is done using a choosen set.