PathPlanner< From, To, Path > Class Template Reference

Path planner interface. More...

#include <PathPlanner.hpp>

Public Types
typedef rw::core::Ptr< PathPlanner >	Ptr
	smart pointer type to this class

Public Member Functions
virtual	~PathPlanner ()
	Destructor.
bool	query (const From &from, To &to, Path &path, const StopCriteria &stop)
	Plan a path from the configuration from to the destination to. More...
bool	query (const From &from, To &to, Path &path, double time)
	Plan a path from the configuration from to the destination to. More...
bool	query (const From &from, To &to, Path &path)
	Plan a path from the configuration from to the destination to. More...
core::PropertyMap &	getProperties ()
	Property map for the planner.
const core::PropertyMap &	getProperties () const
	Property map for the planner.

Protected Member Functions
	PathPlanner ()
	Default constructor provided for subclasses.
virtual bool	doQuery (const From &from, To &to, Path &path, const StopCriteria &stop)=0
	Subclass implementation of the query() method.

Detailed Description

template<class From, class To, class Path = rw::trajectory::Path<From>>
class rw::pathplanning::PathPlanner< From, To, Path >

Path planner interface.

PathPlanner<From, To, Path> plans a path in the configuration space From from a start configuration of type From to a goal destination specified by a parameter of type To. The path is of type Path.

Member Function Documentation

query() [1/3]

bool query ( const From &  from, To &  to, Path &  path  )

inline

Plan a path from the configuration from to the destination to.

The planner runs until it gives up (which may be never).

Parameters

from	[in] start configuration for path.
to	[in] end destination of path.
path	[out] a collision free path connecting from to to.

Returns

true if a path between from from to to was found and false otherwise.

query() [2/3]

bool query ( const From &  from, To &  to, Path &  path, const StopCriteria &  stop  )

inline

Plan a path from the configuration from to the destination to.

Parameters

from	[in] start configuration for path.
to	[in] end destination of path.
path	[out] a collision free path connecting from to to.
stop	[in] Abort the planning when stop returns true.

Returns

true if a path between from from to to was found and false otherwise.

query() [3/3]

bool query ( const From &  from, To &  to, Path &  path, double  time  )

inline

Plan a path from the configuration from to the destination to.

Parameters

from	[in] start configuration for path.
to	[in] end destination of path.
path	[out] a collision free path connecting from to to.
time	[in] Abort the planning after time seconds.

Returns

true if a path between from from to to was found and false otherwise.

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

• PathPlanner.hpp