KrisLibrary
1.0.0
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An incremental edge planner that calls a non-incremental edge planner. This adapts one-shot edge planners to be used in lazy motion planners. More...
#include <EdgePlannerHelpers.h>
Public Member Functions | |
IncrementalizedEdgePlanner (const EdgePlannerPtr &e) | |
virtual bool | IsIncremental () const |
virtual Real | Priority () const |
virtual bool | Plan () |
virtual bool | Done () const |
virtual bool | Failed () const |
virtual EdgePlannerPtr | Copy () const |
virtual EdgePlannerPtr | ReverseCopy () const |
Public Member Functions inherited from PiggybackEdgePlanner | |
PiggybackEdgePlanner (EdgePlannerPtr e) | |
Initialize normally. | |
PiggybackEdgePlanner (CSpace *space, const InterpolatorPtr &path, EdgePlannerPtr e) | |
Initialize in override mode. | |
PiggybackEdgePlanner (CSpace *space, const Config &a, const Config &b, EdgePlannerPtr e) | |
Initialize in override mode. | |
virtual bool | IsVisible () |
virtual void | Eval (Real u, Config &x) const |
virtual Real | Length () const |
virtual const Config & | Start () const |
virtual const Config & | End () const |
virtual CSpace * | Space () const |
Public Member Functions inherited from EdgeChecker | |
EdgeChecker (CSpace *space, const InterpolatorPtr &path) | |
EdgeChecker (CSpace *space, const Config &a, const Config &b) | |
Public Member Functions inherited from Interpolator | |
virtual Real | ParamStart () const |
virtual Real | ParamEnd () const |
Public Attributes | |
bool | checked |
bool | visible |
Public Attributes inherited from PiggybackEdgePlanner | |
EdgePlannerPtr | e |
Public Attributes inherited from EdgeChecker | |
CSpace * | space |
InterpolatorPtr | path |
An incremental edge planner that calls a non-incremental edge planner. This adapts one-shot edge planners to be used in lazy motion planners.
The result of IsVisible is cached so multiple Plan(), Done(), and Failed() calls will not re-check.