| ARWExpand |
ARWExpand expands a random walk in the configuration space by one
step.
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| ARWExpandPtr |
Ptr stores a pointer and optionally takes ownership of the value.
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| ARWPlanner |
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.
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| ARWPlannerPtr |
Ptr stores a pointer and optionally takes ownership of the value.
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| PRMPlanner |
Implements a probabilistic roadmap (PRM) planner.
The PRMPlanner is implemented freely after [1], and has a number of options:
- Lazy Collision Checking: Using lazy collision checking as in [2], the
planner can be used for single as well as multiple queries.
- Nearest Neighbor Search: The algorithm can either use a partial index
table [3] or a simple brute force method to do the nearest neighbor
search.
- Shortest Path Algorithm: Using the Boost Graph Library, both A* and
Dijkstra's Algorithm may be used for finding the shortest path.
As default the algorithm runs with lazy collision checking, brute force
neighbor search and with A* for shortest path search.
As metric the PRMPlanner uses a WeightedEuclideanMetric for which it
estimates the weights such that it provides a worst-case estimate of the
Cartesian motion of the robots given a change in the configuration.
Example of use
PRMPlanner* prm = new PRMPlanner(device, workcell, state, collisionDetector, resolution);
prm->setCollisionCheckingStrategy(PRMPlanner::LAZY);
prm->setNeighSearchStrategy(PRMPlanner::BRUTE_FORCE);
prm->setShortestPathSearchStrategy(PRMPlanner::A_STAR);
prm->buildRoadmap(1000);
Path path;
bool pathFound = prm->query(qstart, qgoal, path, maxtime);
[1]: Probabilistic Roadmaps for Path Planning in High-Dimensional
Configuration Spaces, L.E.
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| PRMPlanner.CollisionCheckingStrategy |
Enumeration for selecting the collision checking strategy
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| PRMPlanner.NeighborSearchStrategy |
Enumeration for selecting the node neighbor search strategy
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| PRMPlanner.ShortestPathSearchStrategy |
Enumeration for selecing the shortest path search strategy
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| PRMPlannerPtr |
Ptr stores a pointer and optionally takes ownership of the value.
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| RRTPlanner |
RRT based planners
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| RRTPlanner.PlannerType |
The type of RRT planner to construct.
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| RRTPlannerPtr |
Ptr stores a pointer and optionally takes ownership of the value.
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| SBLExpand |
Interface for sampling a configuration in the vicinity of some
other configuration.
SBLExpand is a primitive for planners in the SBL family.
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| SBLExpandPtr |
Ptr stores a pointer and optionally takes ownership of the value.
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| SBLOptions |
SBL planner setup.
SBLOptions is the value stored in SBLSetup.
SBLOptions is a seperate file so that we can keep SBLSetup as abstract as
possible.
SBLOptions is used by SBLInternal and is for internal use only.
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| SBLOptions.ConnectFrequency |
Policy for how often to connect trees.
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| SBLOptions.NearNodeSelection |
Policy for choosing a node in the vicinity of a given node, n.
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| SBLOptions.TreeSelection |
Policy for selecting a tree.
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| SBLPlanner |
SBL based planners.
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| SBLPlannerConstraint |
A SBL planner constraint.
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| SBLPlannerPtr |
Ptr stores a pointer and optionally takes ownership of the value.
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| SBLSetup |
Common parameters for SBL based planners.
All versions of the SBL planner base verify configurations and paths in
the configuration space using a PlannerConstraint object.
In addition, parameters can given to define how expansion around a node
of the tree should be done and under what circumstances the two trees
should be connected.
A SBLSetup object stores pointers to the shared objects, but can be
copied and assigned freely.
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| sdurw_pathplanners |
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| sdurw_pathplannersJNI |
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| SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t |
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| Z3Planner |
Z3 based planners
See "The Z3-Method for Fast Path Planning in Dynamic Environments", Boris
Baginski, 1996.
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| Z3PlannerPtr |
Ptr stores a pointer and optionally takes ownership of the value.
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