Klamp't  0.8.1
RealTimeIKPlanner.h
1 #ifndef REAL_TIME_IK_PLANNER_H
2 #define REAL_TIME_IK_PLANNER_H
3 
4 #include "RealTimePlanner.h"
5 #include <KrisLibrary/robotics/IK.h>
6 
12 {
13 public:
14  virtual int PlanFrom(ParabolicRamp::DynamicPath& path,Real cutoff);
15 };
16 
21 {
22 public:
24  virtual void SetGoal(shared_ptr<PlannerObjectiveBase> newgoal);
25  virtual int PlanFrom(ParabolicRamp::DynamicPath& path,Real cutoff);
26 
27  //setting
28  Real perturbationStep;
29  int perturbLimit;
30 
31  //temporary state
32  int iteration;
33 };
34 
40 {
41 public:
43  virtual void SetGoal(shared_ptr<PlannerObjectiveBase> newgoal);
44  virtual int PlanFrom(ParabolicRamp::DynamicPath& path,Real cutoff);
45 
46  //setting
47  Real perturbationStep;
48  int perturbLimit;
49 
50  //temporary state
51  int iteration;
52 };
53 
54 #endif
virtual int PlanFrom(ParabolicRamp::DynamicPath &path, Real cutoff)
A planner that uses numerical inverse kinematics to reach the goal. The goal must be of CartesianObje...
Definition: RealTimeIKPlanner.h:11
A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps.
Definition: DynamicPath.h:114
A planner that perturbs the current configuration to get an improved path.
Definition: RealTimeIKPlanner.h:20
A planner that perturbs the current configuration and uses numerical IK to get an improved path...
Definition: RealTimeIKPlanner.h:39
A base class for a motion planner that generates dynamic paths. The output should always respect join...
Definition: RealTimePlanner.h:24