Robotics Library  0.6.0
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Public Member Functions | Public Attributes | Protected Attributes
rl::plan::Planner Class Reference

#include <Planner.h>

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List of all members.

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::Vectorgoal
SimpleModelmodel
::rl::math::Vectorstart
Viewerviewer

Protected Attributes

::rl::util::Timer timer

Constructor & Destructor Documentation

rl::plan::Planner::Planner ( )
rl::plan::Planner::~Planner ( )
virtual

Member Function Documentation

virtual ::std::string rl::plan::Planner::getName ( ) const
pure virtual
virtual void rl::plan::Planner::getPath ( VectorList path)
pure virtual

Get solution path.

Precondition:
solve()

Implemented in rl::plan::Prm, rl::plan::Rrt, and rl::plan::RrtDual.

virtual void rl::plan::Planner::reset ( )
pure virtual

Reset planner.

Implemented in rl::plan::Prm, and rl::plan::Rrt.

virtual bool rl::plan::Planner::solve ( )
pure virtual
bool rl::plan::Planner::verify ( )

Vertify that start and goal configuration are within joint limits and collision free.


Member Data Documentation

::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.

::rl::util::Timer rl::plan::Planner::timer
protected
Viewer* rl::plan::Planner::viewer

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