Helper class for higher-order planners – passes all calls to another motion planner. More...

Inheritance diagram for PiggybackMotionPlanner:

Public Member Functions
	PiggybackMotionPlanner (const shared_ptr< MotionPlannerInterface > &mp)

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

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

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

virtual bool	IsPointToPoint () const

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

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

virtual void	GetSolution (MilestonePath &path)

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

Public Attributes
shared_ptr< MotionPlannerInterface >	mp

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

Detailed Description

Helper class for higher-order planners – passes all calls to another motion planner.

Member Function Documentation

virtual bool PiggybackMotionPlanner::CanUseObjective ( ) const

inlinevirtual

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

Reimplemented from MotionPlannerInterface.

Reimplemented in ShortcutMotionPlanner, and RestartMotionPlanner.

virtual bool PiggybackMotionPlanner::CheckPath	(	int	ma,
		int	mb
	)

inlinevirtual

If lazy semantics are used, this will check for a feasible path between two lazy-connected milestones

Must be implemented if IsLazy()=true

Reimplemented from MotionPlannerInterface.

Referenced by PointToSetMotionPlannerAdaptor::CanUseObjective().

virtual Real PiggybackMotionPlanner::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.

Referenced by PointToSetMotionPlannerAdaptor::CanUseObjective().