KrisLibrary  1.0.0
Public Types | Public Member Functions | Public Attributes | List of all members
RoadmapPlanner Class Reference

A base roadmap planner class. More...

#include <MotionPlanner.h>

Inheritance diagram for RoadmapPlanner:
PRMStarPlanner

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

CSpacespace
 
Roadmap roadmap
 
Graph::ConnectedComponents ccs
 
std::shared_ptr< PointLocationBasepointLocator
 

Detailed Description

A base roadmap planner class.

Member Function Documentation

Real RoadmapPlanner::OptimizePath ( int  i,
const std::vector< int > &  goals,
ObjectiveFunctionalBase cost,
MilestonePath path 
)
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.


The documentation for this class was generated from the following files: