#include <planner.h>
Inheritance diagram for Planner:
Public Methods | |
Planner (Problem *problem) | |
A constructor that initializes data members. | |
virtual | ~Planner () |
Empty destructor. | |
virtual void | Reset () |
Reset the planner. | |
virtual void | Construct () = 0 |
Generate a planning graph. | |
virtual bool | Plan () = 0 |
Attempt to solve an Initial-Goal query. | |
void | RecordSolution (const list<node> &glist, const list<node> &g2list) |
Convert a path in the graph to Path and Policy. | |
void | RecordSolution (const list<node> &glist) |
virtual void | WriteGraphs (const string &fname) |
Write G and G2 to a file. | |
virtual void | ReadGraphs (const string &fname) |
Read G and G2 from a file. | |
bool | GapSatisfied (const vector &x1, const vector &x2) |
Determine if the gap error is staisfied. | |
Public Attributes | |
list<vector> | Path |
The solution path, as a list of states. | |
list<vector> | Policy |
The solution policy, as a list of inputs. | |
vector | GapState |
The last state in a path before a jump occurs. | |
bool | Holonomic |
Set to true to ignore inputs and avoid integration (default false). This will make "regular" path planning much faster. | |
vector | GapError |
How much gap error is allowed for each element in bidirectional search. | |
GRAPH<vector,vector> | G |
A search graph. | |
GRAPH<vector,vector> | G2 |
A second search graph (if needed). | |
list<double> | TimeList |
The times associated with a solution path. | |
list<vector> | StateList |
The states associated with a solution path. | |
list<vector> | InputList |
The inputs associated with a solution path. | |
int | NumNodes |
Number of nodes to generate in a single execution of Plan or Construct. | |
double | PlannerDeltaT |
Time step to use for incremental planners. | |
Protected Methods | |
vector | RandomState () |
Choose a state at random. | |
vector | NormalState (vector mean, double sd) |
Pick a state using a Normal distribution. | |
Protected Attributes | |
random_source | R |
|
A constructor that initializes data members.
|
|
Empty destructor.
|
|
Generate a planning graph.
Reimplemented in FDP, PRM, RRT, RRTGoalPull, and RRTCon. |
|
Determine if the gap error is staisfied.
|
|
Pick a state using a Normal distribution.
|
|
Attempt to solve an Initial-Goal query.
Reimplemented in FDP, FDPBi, PRM, RRT, RRTCon, RRTDual, RRTExtExt, RRTExtCon, and RRTConCon. |
|
Choose a state at random.
|
|
Read G and G2 from a file.
|
|
|
|
Convert a path in the graph to Path and Policy.
|
|
Reset the planner.
|
|
Write G and G2 to a file.
|
|
A search graph.
|
|
A second search graph (if needed).
|
|
How much gap error is allowed for each element in bidirectional search.
|
|
The last state in a path before a jump occurs.
|
|
Set to true to ignore inputs and avoid integration (default false). This will make "regular" path planning much faster.
|
|
The inputs associated with a solution path.
|
|
Number of nodes to generate in a single execution of Plan or Construct.
|
|
The solution path, as a list of states.
|
|
Time step to use for incremental planners.
|
|
The solution policy, as a list of inputs.
|
|
|
|
The states associated with a solution path.
|
|
The times associated with a solution path.
|