Robotics Library
0.6.0
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#include <Planner.h>
Public Member Functions | |
Planner () | |
virtual | ~Planner () |
virtual ::std::string | getName () const =0 |
virtual void | getPath (VectorList &path)=0 |
virtual void | reset ()=0 |
virtual bool | solve ()=0 |
bool | verify () |
Public Attributes | |
::rl::math::Real | duration |
::rl::math::Vector * | goal |
SimpleModel * | model |
::rl::math::Vector * | start |
Viewer * | viewer |
Protected Attributes | |
::rl::util::Timer | timer |
rl::plan::Planner::Planner | ( | ) |
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virtual |
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pure virtual |
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pure virtual |
Get solution path.
Implemented in rl::plan::Prm, rl::plan::Rrt, and rl::plan::RrtDual.
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pure virtual |
Reset planner.
Implemented in rl::plan::Prm, and rl::plan::Rrt.
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pure virtual |
Find collision free path.
Implemented in rl::plan::Prm, rl::plan::Rrt, rl::plan::PrmUtilityGuided, rl::plan::RrtDual, rl::plan::AddRrtConCon, rl::plan::RrtCon, rl::plan::RrtConCon, rl::plan::RrtExtCon, and rl::plan::RrtExtExt.
bool rl::plan::Planner::verify | ( | ) |
Vertify that start and goal configuration are within joint limits and collision free.
::rl::math::Real rl::plan::Planner::duration |
Upper bound for search [s].
::rl::math::Vector* rl::plan::Planner::goal |
Goal configuration.
SimpleModel* rl::plan::Planner::model |
::rl::math::Vector* rl::plan::Planner::start |
Start configuration.
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protected |
Viewer* rl::plan::Planner::viewer |