Path planner interface. More...

#include <QToQPlanner.hpp>

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

typedef rw::core::Ptr< const QToQPlanner >	CPtr
	smart pointer type to this const class

Public Types inherited from PathPlanner< rw::math::Q, const rw::math::Q >
typedef rw::core::Ptr< PathPlanner >	Ptr
	smart pointer type to this class

Static Public Member Functions
static QToQPlanner::Ptr	make (rw::core::Ptr< QToQSamplerPlanner > planner)
	Construct a path planner from a region planner. More...

static QToQPlanner::Ptr	make (const PlannerConstraint &constraint)
	Construct a path planner from an edge constraint. More...

Additional Inherited Members
Public Member Functions inherited from PathPlanner< rw::math::Q, const rw::math::Q >
virtual	~PathPlanner ()
	Destructor.

bool	query (const rw::math::Q &from, const rw::math::Q &to, rw::trajectory::Path< rw::math::Q > &path, const StopCriteria &stop)
	Plan a path from the configuration from to the destination to. More...

bool	query (const rw::math::Q &from, const rw::math::Q &to, rw::trajectory::Path< rw::math::Q > &path, double time)
	Plan a path from the configuration from to the destination to. More...

bool	query (const rw::math::Q &from, const rw::math::Q &to, rw::trajectory::Path< rw::math::Q > &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 inherited from PathPlanner< rw::math::Q, const rw::math::Q >
	PathPlanner ()
	Default constructor provided for subclasses.

virtual bool	doQuery (const rw::math::Q &from, const rw::math::Q &to, rw::trajectory::Path< rw::math::Q > &path, const StopCriteria &stop)=0
	Subclass implementation of the query() method.

Detailed Description

Path planner interface.

A path planner plans a path in the configuration space from a start configuration to a goal configuration.

Member Function Documentation

static QToQPlanner::Ptr make ( const PlannerConstraint & constraint )

static

Construct a path planner from an edge constraint.

The path planners calls the edge constraint to verify if the path going directly from the start to goal configuration can be traversed.

The configuration constraint is called to verify that neither the start nor end configuration is in collision.

Parameters

constraint [in] Planner constraint.

static QToQPlanner::Ptr make ( rw::core::Ptr< QToQSamplerPlanner > planner )

static

Construct a path planner from a region planner.

The region planner is given as goal region the single to configuration passed to the query() method.

Parameters

planner [in] A planner for a region given by a QSampler.

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