KrisLibrary
1.0.0
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Public Member Functions | |
RRTInterface (CSpace *space) | |
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 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 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 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 void | GetPath (int ma, int mb, MilestonePath &path) |
virtual void | GetSolution (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 int | GetClosestMilestone (const Config &q) |
Retrieve the index of a close milestone. | |
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 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. | |
virtual void | GetStats (PropertyMap &stats) const |
Returns some named statistics about the planner, implementation-dependent. | |
Public Attributes | |
RRTPlanner | rrt |
shared_ptr< ObjectiveFunctionalBase > | objective |
int | numIters |
Additional Inherited Members | |
Public Types inherited from MotionPlannerInterface | |
typedef Graph::UndirectedGraph< Config, std::shared_ptr< EdgePlanner > > | Roadmap |
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inlinevirtual |
Returns true if this planner can handle an objective function (in SetObjective and GetOptimalPath)
Reimplemented from MotionPlannerInterface.
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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.
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inlinevirtual |
Returns a feasible path between two connected milestones. If IsConnected(ma,mb)=false, this will abort.
Must be implemented if IsLazy()=true
Implements MotionPlannerInterface.
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inlinevirtual |
For single-query planners (IsPointToPoint()=true), returns the solution path.
For multi-query planners, returns the optimal solution path.
Reimplemented from MotionPlannerInterface.