Klamp't  0.9.0
Public Member Functions | Public Attributes | List of all members
Klampt::DynamicRRTPlanner Class Reference

Dynamic RRT planner – not recently tested. More...

#include <RealTimeRRTPlanner.h>

Inheritance diagram for Klampt::DynamicRRTPlanner:

Public Member Functions

virtual void SetGoal (shared_ptr< PlannerObjectiveBase > newgoal)
Vector & MakeState (const Config &q, const Config &dq)
Vector & MakeState (const Config &q)
RRTPlanner::Node * TryIKExtend (RRTPlanner::Node *node, bool search=true)
bool CheckPath (RRTPlanner::Node *n, vector< RRTPlanner::Node * > &ndelete, Timer &timer, Real cutoff)
virtual int PlanFrom (ParabolicRamp::DynamicPath &path, Real cutoff)
Real EvaluateNodePathCost (RRTPlanner::Node *n)
- Public Member Functions inherited from Klampt::DynamicMotionPlannerBase
virtual void Init (CSpace *space, RobotModel *robot, WorldPlannerSettings *settings)
virtual void SetTime (Real tstart)
virtual void SetDefaultLimits ()
virtual void SetLimits (Real qScale=1.0, Real vScale=1.0, Real aScale=1.0)
bool LogBegin (const char *fn="realtimeplanner.log")
bool LogEnd ()
int PlanFrom (const Config &qstart, Real cutoff, ParabolicRamp::DynamicPath &result)
 Plans from a start configuration.
bool StopPlanning ()
int Shortcut (ParabolicRamp::DynamicPath &path, Real timeLimit)
 Performs shortcutting up until the time limit.
int SmartShortcut (Real tstart, ParabolicRamp::DynamicPath &path, Real timeLimit)
bool GetMilestoneRamp (const Config &q0, const Vector &dq0, const Config &q1, ParabolicRamp::DynamicPath &ramp) const
bool GetMilestoneRamp (const ParabolicRamp::DynamicPath &curPath, const Config &q, ParabolicRamp::DynamicPath &ramp) const
bool CheckMilestoneRamp (const ParabolicRamp::DynamicPath &curPath, const Config &q, ParabolicRamp::DynamicPath &ramp) const
Real EvaluateDirectPathCost (const ParabolicRamp::DynamicPath &curPath, const Config &q)
 returns the cost of going straight to q (assuming no collision detection)
Real EvaluatePathCost (const ParabolicRamp::DynamicPath &path, Real tStart=-1.0)
Real EvaluateTerminalCost (const Config &q, Real tEnd)
 returns the terminal cost for a path ending at q at time tEnd

Public Attributes

shared_ptr< RampCSpaceAdaptorstateSpace
Real delta
Real smoothTime
Real ikSolveProbability
int iteration
shared_ptr< RRTPlanner > rrt
vector< RRTPlanner::Node * > existingNodes
Vector tempV
- Public Attributes inherited from Klampt::DynamicMotionPlannerBase
CSpace * cspace
shared_ptr< PlannerObjectiveBasegoal
ParabolicRamp::Vector qMin
ParabolicRamp::Vector qMax
ParabolicRamp::Vector velMax
ParabolicRamp::Vector accMax
Real tstart
bool stopPlanning
FILE * flog

Additional Inherited Members

- Public Types inherited from Klampt::DynamicMotionPlannerBase
enum  { Failure =0, Success =1, Timeout =2 }

Detailed Description

Dynamic RRT planner – not recently tested.

Member Function Documentation

virtual int Klampt::DynamicRRTPlanner::PlanFrom ( ParabolicRamp::DynamicPath path,
Real  cutoff 

DynamicMotionPlanner subclasses should override this. Plans from the start of 'path', and returns the result in 'path'. The planning duration should not exceed 'cutoff', if possible.

Must return Success if successful, Failure if planning fails.

Subroutines may maintain a timer, and stop and return Timeout planning time exceeds the cutoff. This is not strictly necessary; the caller should check whether the planning time exceeds the cutoff.

Reimplemented from Klampt::DynamicMotionPlannerBase.

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