KrisLibrary
1.0.0
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A structure to specify the space, endpoints, and cost function of a motion planning problem. More...
#include <AnyMotionPlanner.h>
Public Member Functions | |
MotionPlanningProblem (CSpace *space, const Config &a, const Config &b) | |
Create a point-to-point problem. | |
MotionPlanningProblem (CSpace *space, const Config &a, CSet *goalSet) | |
Create a point-to-set problem. | |
MotionPlanningProblem (CSpace *space, CSet *startSet, CSet *goalSet) | |
Create a set-to-set problem. | |
MotionPlanningProblem (CSpace *space, const Config &a, std::shared_ptr< ObjectiveFunctionalBase > objective) | |
Create an initial value problem. | |
Public Attributes | |
CSpace * | space |
Config | qstart |
Non-empty if the start/end point is given. | |
Config | qgoal |
CSet * | startSet |
Non-NULL if the start/end point must be in a given set. | |
CSet * | goalSet |
std::shared_ptr< ObjectiveFunctionalBase > | objective |
Non-NULL if you'd like to optimize some objective function. | |
A structure to specify the space, endpoints, and cost function of a motion planning problem.