RobWorkProject
23.9.11-
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Z3 based point-to-point planner. More...
#include <Z3QToQPlanner.hpp>
Inherits QToQPlanner.
Public Member Functions | |
Z3QToQPlanner (rw::core::Ptr< rw::pathplanning::QSampler > sampler, rw::pathplanning::QToQPlanner::Ptr localPlanner, int nodeCnt, int repeatCnt) | |
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. | |
Z3 based point-to-point planner.
Z3QToQPlanner | ( | rw::core::Ptr< rw::pathplanning::QSampler > | sampler, |
rw::pathplanning::QToQPlanner::Ptr | localPlanner, | ||
int | nodeCnt, | ||
int | repeatCnt | ||
) |
Constructor.
sampler | [in] Sampler of the configuration space. |
localPlanner | [in] Local planner for connecting the configurations. |
nodeCnt | [in] Number of supporting configurations to insert. If nodeCnt is negative, a default value is chosen. |
repeatCnt | [in] Number of times to repeat the attempt. If repeatCnt is negative, the attempts are repeated forever (or until the stop criteria returns true). |