KrisLibrary
1.0.0
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A base roadmap planner class. More...
#include <MotionPlanner.h>
Public Types | |
typedef Graph::UndirectedGraph< Config, EdgePlannerPtr > | Roadmap |
Public Member Functions | |
RoadmapPlanner (CSpace *) | |
virtual void | Cleanup () |
virtual void | GenerateConfig (Config &x) |
virtual int | AddMilestone (const Config &x) |
virtual int | TestAndAddMilestone (const Config &x) |
virtual void | ConnectEdge (int i, int j, const EdgePlannerPtr &e) |
virtual EdgePlannerPtr | TestAndConnectEdge (int i, int j) |
virtual bool | HasEdge (int i, int j) |
virtual EdgePlannerPtr | GetEdge (int i, int j) |
virtual bool | AreConnected (int i, int j) |
virtual bool | AreConnected (int i, int j) const |
virtual void | ConnectToNeighbors (int i, Real connectionThreshold, bool ccReject=true) |
virtual void | ConnectToNearestNeighbors (int i, int k, bool ccReject=true) |
virtual void | Generate (int numSamples, Real connectionThreshold) |
virtual void | CreatePath (int i, int j, MilestonePath &path) |
Creates the shortest path from i to j. These MUST be in the same connected component. | |
virtual Real | OptimizePath (int i, const std::vector< int > &goals, ObjectiveFunctionalBase *cost, MilestonePath &path) |
Public Attributes | |
CSpace * | space |
Roadmap | roadmap |
Graph::ConnectedComponents | ccs |
std::shared_ptr< PointLocationBase > | pointLocator |
A base roadmap planner class.
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virtual |
Creates a minimum-cost path from i to one of the given goal nodes. Returns the best cost, or Inf if no path exists.
Reimplemented in PRMStarPlanner.
References Graph::GetAncestorPath(), Math::IsInf(), and SafeDelete.