RobWorkProject
23.9.11

Adaptive Random Walk planners. More...
#include <ARWPlanner.hpp>
Public Types  
typedef rw::core::Ptr< ARWPlanner >  Ptr 
Static Public Member Functions  
static rw::pathplanning::QToQPlanner::Ptr  makeQToQPlanner (const rw::pathplanning::PlannerConstraint &constraint, ARWExpand::Ptr expand, rw::math::QMetric::Ptr metric, double nearDistance) 
ARW based pointtopoint planner. More...  
static rw::pathplanning::QToQPlanner::Ptr  makeQToQPlanner (const rw::pathplanning::PlannerConstraint &constraint, rw::core::Ptr< rw::models::Device > device, rw::math::QMetric::Ptr metric=NULL, double nearDistance=1, int historySize=1) 
ARW based pointtopoint planner. More...  
Adaptive Random Walk planners.
The ARW planners are based on the algorithm of: Stefano Carpin and Gianluigi Pillonetto, Motion Planning Using Adaptive Random Walks, IEEE Transactions on Robotics, Vol. 21, No. 1, 2005.

static 
ARW based pointtopoint planner.
The ARW planner expands its paths using instances of expand. If the end point of one of the paths is within a distance nearDistance from a goal node when measured with metric, then that connection is verified. If that connection is valid, the full path is returned.
constraint  [in] Path planning constraint. 
expand  [in] ARW expansion strategy. 
metric  [in] Distance to goal node measure. 
nearDistance  [in] Threshold for distance to goal node. 

static 
ARW based pointtopoint planner.
Based on device, a default distance metric and expansion strategy is chosen. A connection to a goal node is attempted if the distance is below nearDistance. A variance based expansion method is chosen with variances being calculated for the latest historySize samples.
constraint  [in] Path planning constraint. 
device  [in] Device for which the path is planned. 
metric  [in] Configuration space distance metric. If metric is NULL, a default metric for device is chosen. 
nearDistance  [in] Try to connect to the goal if the distance to the goal measured by metric is below this threshold. If metric is null, a default value for nearDistance is chosen. 
historySize  [in] Number of previous configurations on the path to include in computation of the next expand step. If historySize is negative, a default value for the parameter is chosen. 