Internal algorithms used by the SBLPlanner. More...

#include <SBLInternal.hpp>

Static Public Member Functions
static SBLOptions	getOptions (const SBLSetup &setup)
	The options stored within the setup.

static Motion	findConnection (const rw::math::Q &from, const rw::math::Q &to, const Motion &fromSamples, const Motion &toSamples, rw::pathplanning::QSampler &fromSampler, rw::pathplanning::QSampler &toSampler, const SBLOptions &setup, const rw::pathplanning::StopCriteria &stop)

static Motion	findPath (const rw::math::Q &from, const rw::math::Q &to, const SBLOptions &setup, const rw::pathplanning::StopCriteria &stop)

static Motion	findApproach (const rw::math::Q &from, const rw::math::Q &to, const Motion &toSamples, rw::pathplanning::QSampler &toSampler, const SBLOptions &setup, const rw::pathplanning::StopCriteria &stop)

Detailed Description

Internal algorithms used by the SBLPlanner.

Member Function Documentation

static Motion findApproach	(	const rw::math::Q &	from,
		const rw::math::Q &	to,
		const Motion &	toSamples,
		rw::pathplanning::QSampler &	toSampler,
		const SBLOptions &	setup,
		const rw::pathplanning::StopCriteria &	stop
	)

static

Approach planning.

static Motion findConnection	(	const rw::math::Q &	from,
		const rw::math::Q &	to,
		const Motion &	fromSamples,
		const Motion &	toSamples,
		rw::pathplanning::QSampler &	fromSampler,
		rw::pathplanning::QSampler &	toSampler,
		const SBLOptions &	setup,
		const rw::pathplanning::StopCriteria &	stop
	)

static

A general path planner call that (depending on the arguments) can find standard paths, approach paths, retract paths, and connection paths.

The planner assumes that all of the involved configurations are normalized.

The planner runs until a path is found or an external thread assigns stop a value of true.

Parameters

from	[in] Collision free start configuration (or the empty path is returned) or NULL (fromSampler is used to compute a configuration).
to	[in] Collision free goal configuration (or the empty path is returned) or NULL (toSampler is used to compute a configuration).
fromSamples	[in] Other samples to insert for the start region.
toSamples	[in] Other samples to insert for the goal region.
fromSampler	[in] Sampler (possibly empty) for start region.
toSampler	[in] Sampler (possibly empty) for goal region.
setup	[in] Options for the SBL planner.
stop	[in] Stop the planner when this function object returns true.

static Motion findPath	(	const rw::math::Q &	from,
		const rw::math::Q &	to,
		const SBLOptions &	setup,
		const rw::pathplanning::StopCriteria &	stop
	)

static

Standard path planning.

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