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QToQPlanner Class Reference

Path planner interface. More...

#include <QToQPlanner.hpp>

Inherits PathPlanner< rw::math::Q, const rw::math::Q >.

Inherited by ARWQToQPlanner, PRMPlanner, and Z3QToQPlanner.

Public Types

typedef rw::common::Ptr< QToQPlannerPtr
 smart pointer type to this class
 
typedef rw::common::Ptr< const QToQPlannerCPtr
 smart pointer type to this const class
 
- Public Types inherited from PathPlanner< rw::math::Q, const rw::math::Q >
typedef rw::common::Ptr< PathPlannerPtr
 smart pointer type to this class
 

Static Public Member Functions

static QToQPlanner::Ptr make (rw::common::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...
 

Additional Inherited Members

- 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...
 
common::PropertyMapgetProperties ()
 Property map for the planner.
 
const common::PropertyMapgetProperties () const
 Property map for the planner.
 
- Protected Member Functions inherited from PathPlanner< rw::math::Q, const rw::math::Q >
 PathPlanner ()
 Default constructor provided for subclasses.
 
virtual bool doQuery (const rw::math::Q &from, const rw::math::Q &to, rw::trajectory::Path< rw::math::Q > &path, const StopCriteria &stop)=0
 Subclass implementation of the query() method.
 

Detailed Description

Path planner interface.

A path planner plans a path in the configuration space from a start configuration to a goal configuration.

Member Function Documentation

◆ make() [1/2]

static QToQPlanner::Ptr make ( rw::common::Ptr< QToQSamplerPlanner planner)
static

Construct a path planner from a region planner.

The region planner is given as goal region the single to configuration passed to the query() method.

Parameters
planner[in] A planner for a region given by a QSampler.

◆ make() [2/2]

static QToQPlanner::Ptr make ( const PlannerConstraint constraint)
static

Construct a path planner from an edge constraint.

The path planners calls the edge constraint to verify if the path going directly from the start to goal configuration can be traversed.

The configuration constraint is called to verify that neither the start nor end configuration is in collision.

Parameters
constraint[in] Planner constraint.
Returns
A planner that attempts the directly connecting edge only.

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