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Public Types | Static Public Member Functions | List of all members
QToTPlanner Class Reference

Approach planner interface. More...

#include <QToTPlanner.hpp>

Inherits PathPlanner< rw::math::Q, const rw::math::Transform3D<> >.

Public Types

typedef rw::common::Ptr< QToTPlannerPtr
 smart pointer type to this class
 
- Public Types inherited from PathPlanner< rw::math::Q, const rw::math::Transform3D<> >
typedef rw::common::Ptr< PathPlannerPtr
 smart pointer type to this class
 

Static Public Member Functions

static QToTPlanner::Ptr make (rw::common::Ptr< QToQSamplerPlanner > planner, rw::common::Ptr< QIKSampler > ikSampler)
 An approach planner for a sampler of IK solutions and a region planner. More...
 
static QToTPlanner::Ptr makeToNearest (rw::common::Ptr< QToQPlanner > planner, rw::common::Ptr< QIKSampler > sampler, rw::math::QMetric::Ptr metric, int cnt)
 An approach planner for a standard path planner and a sampler of IK solutions. More...
 

Additional Inherited Members

- Public Member Functions inherited from PathPlanner< rw::math::Q, const rw::math::Transform3D<> >
virtual ~PathPlanner ()
 Destructor.
 
bool query (const rw::math::Q &from, const rw::math::Transform3D<> &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::Transform3D<> &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::Transform3D<> &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::Transform3D<> >
 PathPlanner ()
 Default constructor provided for subclasses.
 
virtual bool doQuery (const rw::math::Q &from, const rw::math::Transform3D<> &to, rw::trajectory::Path< rw::math::Q > &path, const StopCriteria &stop)=0
 Subclass implementation of the query() method.
 

Detailed Description

Approach planner interface.

An approach planner plans a path from a configuration for the device to a configuration for the tool.

Member Function Documentation

◆ make()

static QToTPlanner::Ptr make ( rw::common::Ptr< QToQSamplerPlanner planner,
rw::common::Ptr< QIKSampler ikSampler 
)
static

An approach planner for a sampler of IK solutions and a region planner.

Target configurations are sampled by ikSampler and fed to planner.

Parameters
planner[in] Planner for a QSampler region.
ikSampler[in] Sampler of IK solutions for the target transform.

◆ makeToNearest()

static QToTPlanner::Ptr makeToNearest ( rw::common::Ptr< QToQPlanner planner,
rw::common::Ptr< QIKSampler sampler,
rw::math::QMetric::Ptr  metric,
int  cnt 
)
static

An approach planner for a standard path planner and a sampler of IK solutions.

For each query(from, to) call, the planner extracts cnt samples from sampler and calls planner with the configuration closest to from according to metric.


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