ARWQToQPlanner Class Reference

Adaptive Random Walk Planner. More...

#include <ARWQToQPlanner.hpp>

Inherits QToQPlanner.

Public Member Functions
	ARWQToQPlanner (const rw::pathplanning::PlannerConstraint &constraint, ARWExpand::Ptr expand, rw::math::QMetric::Ptr metric, double nearDistance)
	Constructor. More...
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...
core::PropertyMap &	getProperties ()
	Property map for the planner.
const core::PropertyMap &	getProperties () const
	Property map for the planner.

Additional Inherited Members
Public Types inherited from QToQPlanner
typedef rw::core::Ptr< QToQPlanner >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const QToQPlanner >	CPtr
	smart pointer type to this const class
Public Types inherited from PathPlanner< rw::math::Q, const rw::math::Q >
typedef rw::core::Ptr< PathPlanner >	Ptr
	smart pointer type to this class
Static Public Member Functions inherited from QToQPlanner
static QToQPlanner::Ptr	make (rw::core::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...
Protected Member Functions inherited from PathPlanner< rw::math::Q, const rw::math::Q >
	PathPlanner ()
	Default constructor provided for subclasses.

Detailed Description

Adaptive Random Walk Planner.

ARWQToQPlanner is an implementation of the planner of: Stefano Carpin and Gianluigi Pillonetto, Motion Planning Using Adaptive Random Walks, IEEE Transactions on Robotics, Vol. 21, No. 1, 2005.

Constructor & Destructor Documentation

ARWQToQPlanner()

ARWQToQPlanner	(	const rw::pathplanning::PlannerConstraint &	constraint,
		ARWExpand::Ptr	expand,
		rw::math::QMetric::Ptr	metric,
		double	nearDistance
	)

Constructor.

nearDistance must be non-negative.

Parameters

constraint	[in] Path planning constraint.
expand	[in] Expansion strategy for the random walk.
metric	[in] Distance metric on the configuration space.
nearDistance	[in] Attempt connection to goal node if the distance to the node is less than nearDistance when measured by metric.

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

• ARWQToQPlanner.hpp