RobWorkProject  6.6.6
Public Types | Static Public Member Functions | List of all members
ARWPlanner Class Reference

Adaptive Random Walk planners. More...

#include <ARWPlanner.hpp>

Public Types

typedef rw::common::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::common::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::common::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: