RobWorkProject
23.9.11-
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Adaptive Random Walk Planner. More...
#include <ARWQToQPlanner.hpp>
Inherits QToQPlanner.
Public Member Functions | |
ARWQToQPlanner (const rw::pathplanning::PlannerConstraint &constraint, ARWExpand::Ptr expand, rw::math::QMetric::Ptr metric, double nearDistance) | |
Constructor. More... | |
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. | |
Additional Inherited Members | |
Public Types inherited from QToQPlanner | |
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 inherited from QToQPlanner | |
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... | |
Protected Member Functions inherited from PathPlanner< rw::math::Q, const rw::math::Q > | |
PathPlanner () | |
Default constructor provided for subclasses. | |
Adaptive Random Walk Planner.
ARWQToQPlanner is an implementation of the planner of: Stefano Carpin and Gianluigi Pillonetto, Motion Planning Using Adaptive Random Walks, IEEE Transactions on Robotics, Vol. 21, No. 1, 2005.
ARWQToQPlanner | ( | const rw::pathplanning::PlannerConstraint & | constraint, |
ARWExpand::Ptr | expand, | ||
rw::math::QMetric::Ptr | metric, | ||
double | nearDistance | ||
) |
Constructor.
nearDistance must be non-negative.
constraint | [in] Path planning constraint. |
expand | [in] Expansion strategy for the random walk. |
metric | [in] Distance metric on the configuration space. |
nearDistance | [in] Attempt connection to goal node if the distance to the node is less than nearDistance when measured by metric. |