PlannerUtil Class Reference

PlannerUtil provides various utilities useful in path planning. More...

#include <PlannerUtil.hpp>

Public Types
enum	EstimateType { WORSTCASE = 0 , AVERAGE }
	Description of the different estimation type possible in the estimateMotionWeights(EsitmateType, size_t) method. More...

Static Public Member Functions
static bool	inCollision (const PlannerConstraint &constraint, const std::vector< rw::math::Q > &path)
	Collision checking for a path of configurations. More...
static bool	inCollision (const PlannerConstraint &constraint, const rw::math::Q &start, const rw::math::Q &end, bool checkStart=true, bool checkEnd=true)
	Collision checking for a segment. More...
static bool	inCollision (const PlannerConstraint &constraint, const rw::math::Q &q)
	Collision checking for a configuration. More...
static rw::math::QMetric::Ptr	normalizingInfinityMetric (const rw::models::Device::QBox &bounds, double length=1)
	Weighted infinity metric that maps the maps the longest vector in the configuration space to a given length. More...
static rw::math::QMetric::Ptr	timeMetric (const rw::models::Device &device)
	Metric for the distance in time between a pair of configurations. More...
static rw::math::QMetric::Ptr	timeMetric (const rw::math::Q &speed)
	Metric for the distance in time between a pair of configurations. More...
static rw::math::Q	estimateMotionWeights (const rw::models::Device &device, rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &initialState, EstimateType type, size_t samples)
	Estimate the distance traveled by the frame, when moving the joints. More...
static rw::math::Q	clampPosition (const rw::models::Device &device, const rw::math::Q &q)
	Clamps values to be within bounds. More...
static rw::math::Q	clampPosition (const rw::models::Device::QBox &bounds, const rw::math::Q &q)
	Clamps values to be within bounds. More...

Detailed Description

PlannerUtil provides various utilities useful in path planning.

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

• PlannerUtil.hpp