hpp::manipulation::pathPlanner::EndEffectorTrajectory Class Reference

#include <hpp/manipulation/path-planner/end-effector-trajectory.hh>

Inheritance diagram for hpp::manipulation::pathPlanner::EndEffectorTrajectory:

Collaboration diagram for hpp::manipulation::pathPlanner::EndEffectorTrajectory:

Public Member Functions
virtual void	startSolve ()
virtual void	oneStep ()
	One step of the algorithm. More...
int	nRandomConfig () const
void	nRandomConfig (int n)
int	nDiscreteSteps () const
	Number of steps to generate goal config (successive projections). More...
void	nDiscreteSteps (int n)
void	checkFeasibilityOnly (bool enable)
bool	checkFeasibilityOnly () const
void	ikSolverInitialization (IkSolverInitializationPtr_t solver)
void	tryConnectInitAndGoals ()
Public Member Functions inherited from hpp::core::PathPlanner
virtual	~PathPlanner ()
virtual const RoadmapPtr_t &	roadmap () const
const Problem &	problem () const
virtual PathVectorPtr_t	solve ()
virtual void	tryDirectPath () HPP_CORE_DEPRECATED
virtual PathVectorPtr_t	finishSolve (const PathVectorPtr_t &path)
void	interrupt ()
void	maxIterations (const unsigned long int &n)
void	timeOut (const double &timeOut)
PathVectorPtr_t	computePath () const
virtual	~PathPlanner ()
virtual const RoadmapPtr_t &	roadmap () const
const Problem &	problem () const
virtual PathVectorPtr_t	solve ()
virtual void	tryDirectPath () HPP_CORE_DEPRECATED
virtual PathVectorPtr_t	finishSolve (const PathVectorPtr_t &path)
void	interrupt ()
void	maxIterations (const unsigned long int &n)
void	timeOut (const double &timeOut)
PathVectorPtr_t	computePath () const

Static Public Member Functions
static EndEffectorTrajectoryPtr_t	create (const core::Problem &problem)
static EndEffectorTrajectoryPtr_t	createWithRoadmap (const core::Problem &problem, const core::RoadmapPtr_t &roadmap)

Protected Member Functions
	EndEffectorTrajectory (const core::Problem &problem)
	EndEffectorTrajectory (const core::Problem &problem, const core::RoadmapPtr_t &roadmap)
void	init (const EndEffectorTrajectoryWkPtr_t &weak)
	Store weak pointer to itself. More...
Protected Member Functions inherited from hpp::core::PathPlanner
	PathPlanner (const Problem &problem)
	PathPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
void	init (const PathPlannerWkPtr_t &weak)
	PathPlanner (const Problem &problem)
	PathPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
void	init (const PathPlannerWkPtr_t &weak)

Constructor & Destructor Documentation

EndEffectorTrajectory() [1/2]

hpp::manipulation::pathPlanner::EndEffectorTrajectory::EndEffectorTrajectory ( const core::Problem &  problem )

protected

Protected constructor

Parameters

problem

the path planning problem

EndEffectorTrajectory() [2/2]

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

protected

Protected constructor

Parameters

problem	the path planning problem
roadmap	previously built roadmap

Member Function Documentation

checkFeasibilityOnly() [1/2]

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly

(

bool

enable

)

If enabled, only add one solution to the roadmap. Otherwise add all solution.

checkFeasibilityOnly() [2/2]

bool hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly ( ) const

inline

create()

static EndEffectorTrajectoryPtr_t hpp::manipulation::pathPlanner::EndEffectorTrajectory::create ( const core::Problem &  problem )

static

Return shared pointer to new instance

Parameters

problem

the path planning problem

createWithRoadmap()

static EndEffectorTrajectoryPtr_t hpp::manipulation::pathPlanner::EndEffectorTrajectory::createWithRoadmap ( const core::Problem &  problem, const core::RoadmapPtr_t &  roadmap  )

static

Return shared pointer to new instance

Parameters

problem	the path planning problem
roadmap	previously built roadmap

ikSolverInitialization()

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::ikSolverInitialization ( IkSolverInitializationPtr_t  solver )

inline

init()

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::init ( const EndEffectorTrajectoryWkPtr_t &  weak )

protected

Store weak pointer to itself.

nDiscreteSteps() [1/2]

int hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps ( ) const

inline

Number of steps to generate goal config (successive projections).

nDiscreteSteps() [2/2]

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps ( int  n )

inline

nRandomConfig() [1/2]

int hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig ( ) const

inline

Get the number of random configurations shoot (after using init config) in order to generate the initial config of the final path.

nRandomConfig() [2/2]

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig ( int  n )

inline

oneStep()

virtual void hpp::manipulation::pathPlanner::EndEffectorTrajectory::oneStep ( )

virtual

One step of the algorithm.

Implements hpp::core::PathPlanner.

startSolve()

virtual void hpp::manipulation::pathPlanner::EndEffectorTrajectory::startSolve ( )

virtual

Initialize the problem resolution

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

Reimplemented from hpp::core::PathPlanner.

tryConnectInitAndGoals()

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::tryConnectInitAndGoals ( )

virtual

Reimplemented from hpp::core::PathPlanner.

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The documentation for this class was generated from the following file:

• include/hpp/manipulation/path-planner/end-effector-trajectory.hh