RobWorkProject  6.6.6
ARWPlanner Class Reference

#include <ARWPlanner.hpp>

## Public Types

typedef rw::core::Ptr< ARWPlannerPtr

## 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

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.

## ◆ 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.

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