rl::plan::Planner Class Reference

#include <Planner.h>

Inheritance diagram for rl::plan::Planner:

Public Member Functions
	Planner ()
virtual	~Planner ()
virtual ::std::string	getName () const =0
virtual VectorList	getPath ()=0
	Get solution path. More...
virtual void	reset ()=0
	Reset planner. More...
virtual bool	solve ()=0
	Find collision free path. More...
bool	verify ()
	Vertify that start and goal configuration are within joint limits and collision free. More...

Public Attributes
::std::chrono::steady_clock::duration	duration
	Upper bound for search. More...
::rl::math::Vector *	goal
	Goal configuration. More...
SimpleModel *	model
::rl::math::Vector *	start
	Start configuration. More...
Viewer *	viewer

Protected Attributes
::std::chrono::steady_clock::time_point	time

Constructor & Destructor Documentation

Planner()

rl::plan::Planner::Planner

(

)

~Planner()

rl::plan::Planner::~Planner ( )

virtual

Member Function Documentation

getName()

virtual ::std::string rl::plan::Planner::getName ( ) const

pure virtual

Implemented in rl::plan::RrtGoalBias, rl::plan::RrtExtExt, rl::plan::RrtExtCon, rl::plan::RrtDual, rl::plan::RrtConCon, rl::plan::RrtCon, rl::plan::Rrt, rl::plan::PrmUtilityGuided, rl::plan::Prm, rl::plan::Eet, and rl::plan::AddRrtConCon.

getPath()

virtual VectorList rl::plan::Planner::getPath ( )

pure virtual

Get solution path.

Precondition

solve()

Implemented in rl::plan::RrtDual, rl::plan::Rrt, rl::plan::Prm, and rl::plan::Eet.

reset()

virtual void rl::plan::Planner::reset ( )

pure virtual

Reset planner.

Implemented in rl::plan::Rrt, rl::plan::Prm, and rl::plan::Eet.

solve()

virtual bool rl::plan::Planner::solve ( )

pure virtual

Find collision free path.

Implemented in rl::plan::RrtExtExt, rl::plan::RrtExtCon, rl::plan::RrtDual, rl::plan::RrtConCon, rl::plan::RrtCon, rl::plan::Rrt, rl::plan::PrmUtilityGuided, rl::plan::Prm, rl::plan::Eet, and rl::plan::AddRrtConCon.

verify()

bool rl::plan::Planner::verify

(

)

Vertify that start and goal configuration are within joint limits and collision free.

Member Data Documentation

duration

::std::chrono::steady_clock::duration rl::plan::Planner::duration

Upper bound for search.

goal

::rl::math::Vector* rl::plan::Planner::goal

Goal configuration.

model

SimpleModel* rl::plan::Planner::model

start

::rl::math::Vector* rl::plan::Planner::start

Start configuration.

time

::std::chrono::steady_clock::time_point rl::plan::Planner::time

protected

viewer

Viewer* rl::plan::Planner::viewer

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

• rl/plan/Planner.h
• rl/plan/Planner.cpp