SBLPRTInterface Class Reference

Inheritance diagram for SBLPRTInterface:

Public Member Functions
	SBLPRTInterface (CSpace *space)
virtual bool	CanAddMilestone () const
	Returns true if a milestone can currently be added.
virtual bool	IsPointToPoint () const
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 i)
	Manual indication that the milestone is a good candidate for connecting.
virtual bool	ConnectHint (int i, int j)
	Manual indication that the milestones are good candidates for connecting.
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 void	GetPath (int ma, int mb, MilestonePath &path)
virtual bool	IsSolved () const
virtual void	GetSolution (MilestonePath &path)
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	IsOptimizing () const
	Returns true if this planner can optimize the path after the first solution.
virtual bool	CanUseObjective () 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 int	GetClosestMilestone (const Config &q)
	Retrieve the index of a close milestone.
virtual Real	GetOptimalPath (int ma, const std::vector< int > &mb, MilestonePath &path)
virtual bool	IsSolved ()
	For single-query planners, returns true if the start and goal are connected.
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 Attributes
SBLPRT	sblprt

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

Member Function Documentation

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

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.

virtual void SBLPRTInterface::GetSolution ( MilestonePath &  path )

inlinevirtual

For single-query planners (IsPointToPoint()=true), returns the solution path.

For multi-query planners, returns the optimal solution path.

Reimplemented from MotionPlannerInterface.

virtual bool SBLPRTInterface::IsPointToPoint ( ) const

inlinevirtual

Returns true if this planner is exclusively point-to-point, i.e., cannot accept additional goal nodes via AddMilestone()

Reimplemented from MotionPlannerInterface.

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

• AnyMotionPlanner.cpp