exotica::TimeIndexedRRTConnectSolver Class Reference

#include <time_indexed_rrt_connect.h>

Inheritance diagram for exotica::TimeIndexedRRTConnectSolver:

Collaboration diagram for exotica::TimeIndexedRRTConnectSolver:

Public Member Functions
void	Instantiate (const TimeIndexedRRTConnectSolverInitializer &init) override
void	Solve (Eigen::MatrixXd &solution) override
void	SpecifyProblem (PlanningProblemPtr pointer) override
void	SetPlannerTerminationCondition (const std::shared_ptr< ompl::base::PlannerTerminationCondition > &ptc)
Public Member Functions inherited from exotica::MotionSolver
	MotionSolver ()=default
virtual	~MotionSolver ()=default
void	InstantiateBase (const Initializer &init) override
PlanningProblemPtr	GetProblem () const
std::string	Print (const std::string &prepend) const override
void	SetNumberOfMaxIterations (int max_iter)
int	GetNumberOfMaxIterations ()
double	GetPlanningTime ()
Public Member Functions inherited from exotica::Object
	Object ()
virtual	~Object ()
virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...
std::string	GetObjectName ()
void	InstantiateObject (const Initializer &init)
Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default
virtual	~InstantiableBase ()=default
virtual std::vector< Initializer >	GetAllTemplates () const =0

Protected Member Functions
void	SetGoalState (const Eigen::VectorXd &qT, const double t, const double eps=0)
void	PreSolve ()
void	PostSolve ()
void	GetPath (Eigen::MatrixXd &traj, ompl::base::PlannerTerminationCondition &ptc)

Static Protected Member Functions
template<typename T >
static ompl::base::PlannerPtr	allocatePlanner (const ompl::base::SpaceInformationPtr &si, const std::string &new_name)

Protected Attributes
TimeIndexedSamplingProblemPtr	prob_
ompl::geometric::SimpleSetupPtr	ompl_simple_setup_
ompl::base::StateSpacePtr	state_space_
ConfiguredPlannerAllocator	planner_allocator_
std::string	algorithm_
std::shared_ptr< ompl::base::PlannerTerminationCondition >	ptc_
Protected Attributes inherited from exotica::MotionSolver
PlanningProblemPtr	problem_
double	planning_time_ = -1
int	max_iterations_ = 100

Additional Inherited Members
Public Attributes inherited from exotica::Object
std::string	ns_
std::string	object_name_
bool	debug_
Private Member Functions inherited from exotica::Instantiable< TimeIndexedRRTConnectSolverInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
const TimeIndexedRRTConnectSolverInitializer &	GetParameters () const
Private Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default
virtual	~InstantiableBase ()=default
virtual std::vector< Initializer >	GetAllTemplates () const =0
Private Attributes inherited from exotica::Instantiable< TimeIndexedRRTConnectSolverInitializer >
TimeIndexedRRTConnectSolverInitializer	parameters_

Member Function Documentation

allocatePlanner()

template<typename T >

static ompl::base::PlannerPtr exotica::TimeIndexedRRTConnectSolver::allocatePlanner ( const ompl::base::SpaceInformationPtr &  si, const std::string &  new_name  )

inlinestaticprotected

GetPath()

void exotica::TimeIndexedRRTConnectSolver::GetPath ( Eigen::MatrixXd &  traj, ompl::base::PlannerTerminationCondition &  ptc  )

protected

Instantiate()

void exotica::TimeIndexedRRTConnectSolver::Instantiate ( const TimeIndexedRRTConnectSolverInitializer &  init )

overridevirtual

Reimplemented from exotica::Instantiable< TimeIndexedRRTConnectSolverInitializer >.

PostSolve()

void exotica::TimeIndexedRRTConnectSolver::PostSolve ( )

protected

PreSolve()

void exotica::TimeIndexedRRTConnectSolver::PreSolve ( )

protected

SetGoalState()

void exotica::TimeIndexedRRTConnectSolver::SetGoalState ( const Eigen::VectorXd &  qT, const double  t, const double  eps = 0  )

protected

SetPlannerTerminationCondition()

void exotica::TimeIndexedRRTConnectSolver::SetPlannerTerminationCondition

(

const std::shared_ptr< ompl::base::PlannerTerminationCondition > &

ptc

)

Solve()

void exotica::TimeIndexedRRTConnectSolver::Solve ( Eigen::MatrixXd &  solution )

overridevirtual

Implements exotica::MotionSolver.

SpecifyProblem()

void exotica::TimeIndexedRRTConnectSolver::SpecifyProblem ( PlanningProblemPtr  pointer )

overridevirtual

Reimplemented from exotica::MotionSolver.

Member Data Documentation

algorithm_

std::string exotica::TimeIndexedRRTConnectSolver::algorithm_

protected

ompl_simple_setup_

ompl::geometric::SimpleSetupPtr exotica::TimeIndexedRRTConnectSolver::ompl_simple_setup_

protected

planner_allocator_

ConfiguredPlannerAllocator exotica::TimeIndexedRRTConnectSolver::planner_allocator_

protected

prob_

TimeIndexedSamplingProblemPtr exotica::TimeIndexedRRTConnectSolver::prob_

protected

ptc_

std::shared_ptr<ompl::base::PlannerTerminationCondition> exotica::TimeIndexedRRTConnectSolver::ptc_

protected

state_space_

ompl::base::StateSpacePtr exotica::TimeIndexedRRTConnectSolver::state_space_

protected

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

• /tmp/exotica/exotations/solvers/exotica_time_indexed_rrt_connect_solver/include/exotica_time_indexed_rrt_connect_solver/time_indexed_rrt_connect.h