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RobWorkProject
23.9.11-
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RobWorkProject
23.9.11-
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Interface for planning robot trajectories with tool path trajectory constraints. More...
#include <QToTrajPlanner.hpp>
Inherits PathPlanner< rw::math::Q, rw::trajectory::Transform3DTrajectory::Ptr >.
Classes | |
| class | Factory |
| a factory for QToTPlanner. This factory also defines an extension point for QToTPlanner. This permit users to add QToQPlanners that will be available through this factory More... | |
Public Types | |
| typedef rw::core::Ptr< QToTrajPlanner > | Ptr |
| smart pointer type to this class | |
 Public Types inherited from PathPlanner< rw::math::Q, rw::trajectory::Transform3DTrajectory::Ptr > | |
| typedef rw::core::Ptr< PathPlanner > | Ptr |
| smart pointer type to this class | |
Static Public Member Functions | |
| static QToTPlanner::Ptr | make (QToQSamplerPlanner::Ptr planner, QIKSampler::Ptr ikSampler) |
| An approach planner for a sampler of IK solutions and a region planner. More... | |
| static QToTPlanner::Ptr | makeToNearest (QToQPlanner::Ptr planner, QIKSampler::Ptr 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, rw::trajectory::Transform3DTrajectory::Ptr > | |
| virtual | ~PathPlanner () |
| Destructor. | |
| bool | query (const rw::math::Q &from, rw::trajectory::Transform3DTrajectory::Ptr &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, rw::trajectory::Transform3DTrajectory::Ptr &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, rw::trajectory::Transform3DTrajectory::Ptr &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. | |
| Protected Member Functions inherited from PathPlanner< rw::math::Q, rw::trajectory::Transform3DTrajectory::Ptr > | |
| PathPlanner () | |
| Default constructor provided for subclasses. | |
| virtual bool | doQuery (const rw::math::Q &from, rw::trajectory::Transform3DTrajectory::Ptr &to, rw::trajectory::Path< rw::math::Q > &path, const StopCriteria &stop)=0 |
| Subclass implementation of the query() method. | |
Interface for planning robot trajectories with tool path trajectory constraints.
An approach planner plans a path from a configuration for the device to a configuration for the tool.
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static |
An approach planner for a sampler of IK solutions and a region planner.
Target configurations are sampled by ikSampler and fed to planner.
| planner | [in] Planner for a QSampler region. |
| ikSampler | [in] Sampler of IK solutions for the target transform. |
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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.
1.9.1