Abstract base class for an edge planner / edge checker (i.e., local planner). More...
#include <EdgePlanner.h>
Public Member Functions | |
| virtual bool | IsVisible ()=0 |
| virtual CSpace * | Space () const =0 |
| virtual std::shared_ptr< EdgePlanner > | Copy () const =0 |
| virtual std::shared_ptr< EdgePlanner > | ReverseCopy () const =0 |
| virtual bool | IsIncremental () const |
| virtual Real | Priority () const |
| virtual bool | Plan () |
| virtual bool | Done () const |
| virtual bool | Failed () const |
 Public Member Functions inherited from Interpolator | |
| virtual void | Eval (Real u, Config &x) const =0 |
| virtual Real | Length () const =0 |
| virtual const Config & | Start () const =0 |
| virtual const Config & | End () const =0 |
| virtual Real | ParamStart () const |
| virtual Real | ParamEnd () const |
Detailed Description
Abstract base class for an edge planner / edge checker (i.e., local planner).
There is a subtle difference between edge planners and edge checkers, and for the most part we use checkers as planners. The specific difference is this:
- An edge planner creates the path after it is done with planning.
- An edge checker knows the path upon initialization.
As an example, both EpsilonEdgeChecker and BisectionEpsilonEdgePlanner cut the path into a number of segments and checks each for feasibility. They are equivalent if the space's Interpolate method is a geodesic, so that the interpolant between any two points on a curve is a subset of the curve itself. If not, however, the BisectionEpsilonEdgePlanner creates a different path after it is done. This is used, for example, with CSpaces that lie on submanifolds and use projection during interpolation.
NOTE: Sharing pointers between edge planners is dangerous; the only pointer that can be copied is the configuration space! Use shared_ptr's if data must be shared among instances.
There is a difference between one-shot and incremental EdgePlanners. One-shot EdgePlanners implement the following methods:
- IsVisible performs the planning process
- Space returns the workspace in which this lives
- Copy returns a copy
- ReverseCopy returns the reverse edge planner And the following Interpolator methods need implementing too:
- Eval returns the path p(u) with u from 0->1. p(0)=a, p(1)=b
- Start returns p(0)
- End returns p(1)
In addition, incremental planners implement the following:
- Priority returns some priority measure (such as distance btwn configs)
- Plan performs one step of the planning process, returns true to continue, false on failure
- Done returns true if the planning's done
- Failed returns true if an infeasible configuration has been found
The documentation for this class was generated from the following file:
