ARWPlanner Class Reference

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 point-to-point 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 point-to-point planner. More...

Detailed Description

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.

Member Function Documentation

makeQToQPlanner() [1/2]

static rw::pathplanning::QToQPlanner::Ptr makeQToQPlanner ( const rw::pathplanning::PlannerConstraint &  constraint, ARWExpand::Ptr  expand, rw::math::QMetric::Ptr  metric, double  nearDistance  )

static

ARW based point-to-point 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.

Parameters

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.

makeQToQPlanner() [2/2]

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  )

static

ARW based point-to-point 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.

Parameters

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.

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

• ARWPlanner.hpp