Inheritance diagram for PRMStarInterface:

Public Member Functions
	PRMStarInterface (CSpace *space)

virtual bool	IsOptimizing () const
	Returns true if this planner can optimize the path after the first solution.

virtual bool	CanUseObjective () const

virtual void	SetObjective (shared_ptr< ObjectiveFunctionalBase > obj)

virtual bool	CanAddMilestone () const
	Returns true if a milestone can currently be added.

virtual int	AddMilestone (const Config &q)
	Adds a milestone, if possible. Returns an id of the milestone.

virtual void	GetMilestone (int i, Config &q)
	For the id of a milestone previously added, returns its configuration.

virtual int	PlanMore ()
	Performs a planning unit and returns the added milestone.

virtual int	NumIterations () const
	Returns the number of elaped planning units.

virtual int	NumMilestones () const
	Returns the number of milestones stored by the planner.

virtual int	NumComponents () const
	Returns the number of connected components stored by the planner.

virtual bool	IsConnected (int ma, int mb) const
	Returns true if the two milestones are connected with a feasible path.

virtual int	GetClosestMilestone (const Config &q)
	Retrieve the index of a close milestone.

virtual void	GetSolution (MilestonePath &path)

virtual void	GetPath (int ma, int mb, MilestonePath &path)

virtual Real	GetOptimalPath (int ma, const std::vector< int > &mb, MilestonePath &path)

virtual void	GetRoadmap (Roadmap &roadmap) const
	Returns a full-blown roadmap representation of the roadmap.

virtual void	GetStats (PropertyMap &stats) const
	Returns some named statistics about the planner, implementation-dependent.

Public Member Functions inherited from MotionPlannerInterface
virtual std::string	Plan (MilestonePath &path, const HaltingCondition &cond)

virtual void	PlanMore (int numIters)
	Performs numIters planning units.

virtual void	ConnectHint (int m)
	Manual indication that the milestone is a good candidate for connecting.

virtual bool	ConnectHint (int ma, int mb)
	Manual indication that the milestones are good candidates for connecting.

virtual bool	IsPointToPoint () const

virtual void	SetObjective (std::shared_ptr< ObjectiveFunctionalBase > obj)
	Must be implemented if CanUseObjective() = true.

virtual bool	IsLazy () const
	Returns true if this planner has lazy semantics.

virtual bool	IsLazyConnected (int ma, int mb) const

virtual bool	CheckPath (int ma, int mb)

virtual bool	IsSolved ()
	For single-query planners, returns true if the start and goal are connected.

Public Attributes
PRMStarPlanner	planner

Config	qStart

Config	qGoal

shared_ptr< ObjectiveFunctionalBase >	objective

Additional Inherited Members
Public Types inherited from MotionPlannerInterface
typedef Graph::UndirectedGraph< Config, std::shared_ptr< EdgePlanner > >	Roadmap

Member Function Documentation

virtual bool PRMStarInterface::CanUseObjective ( ) const

inlinevirtual

Returns true if this planner can handle an objective function (in SetObjective and GetOptimalPath)

Reimplemented from MotionPlannerInterface.

virtual Real PRMStarInterface::GetOptimalPath	(	int	ma,
		const std::vector< int > &	mb,
		MilestonePath &	path
	)

inlinevirtual

Calculates a feasible, minimum cost path, starting at ma and terminating at some node in the mb set. If SetObjective was called before, the objective function is used as the cost. Otherwise, the cost is up to the planner, but is typically path length. The cost is returned.

Must be implemented if CanUseObjective() = true.

Reimplemented from MotionPlannerInterface.

References TreeRoadmapPlanner::OptimizePath().