AbstractPlanner Class Reference

#include <AbstractPlanner.h>

Inheritance diagram for AbstractPlanner:

Collaboration diagram for AbstractPlanner:

Classes
struct	IntermediaryControlSolution
struct	IntermediarySolution

Public Member Functions
virtual std::string	name () const =0
virtual	~AbstractPlanner ()
virtual ob::PlannerStatus	run ()=0
virtual std::vector< Point >	solutionPath () const
virtual og::PathGeometric	solution () const =0
	Returns the solution of the planner, which is a sparse PathGeometric. More...
virtual bool	hasReachedGoalExactly () const =0
virtual double	planningTime () const =0
bool	isValid (const ob::State *state) const
bool	isValid (og::PathGeometric &path) const
bool	isValid (og::PathGeometric &path, std::vector< Point > &collisions) const
bool	isValid (ompl::control::PathControl &path, std::vector< Point > &collisions) const
og::SimpleSetup *	simpleSetup () const
ob::StateValidityCheckerPtr	getCurrStateValidityCheckerPtr () const
virtual ob::Planner *	omplPlanner ()
virtual nlohmann::json	getSettings () const

Public Attributes
std::vector< IntermediarySolution >	intermediarySolutions
std::vector< IntermediaryControlSolution >	intermediaryControlSolutions

Static Public Attributes
static std::string	LastCreatedPlannerName = ""
	Stores the name of the planner created last. More...

Protected Member Functions
	AbstractPlanner (const std::string &name)

Protected Attributes
og::SimpleSetup *	ss {nullptr}
oc::SimpleSetup *	ss_c {nullptr}
bool	control_based_ {false}

Constructor & Destructor Documentation

~AbstractPlanner()

AbstractPlanner::~AbstractPlanner ( )

virtual

AbstractPlanner()

AbstractPlanner::AbstractPlanner ( const std::string &  name )

explicitprotected

Member Function Documentation

getCurrStateValidityCheckerPtr()

ob::StateValidityCheckerPtr AbstractPlanner::getCurrStateValidityCheckerPtr ( ) const

inline

getSettings()

virtual nlohmann::json AbstractPlanner::getSettings ( ) const

inlinevirtual

Reimplemented in OMPLControlPlanner< PLANNER >, and OMPLPlanner< PLANNER >.

hasReachedGoalExactly()

virtual bool AbstractPlanner::hasReachedGoalExactly ( ) const

pure virtual

Implemented in OMPLSimplifier, OMPLControlPlanner< PLANNER >, OMPLPlanner< PLANNER >, SbplPlanner< PlannerT >, and ThetaStar.

isValid() [1/4]

bool AbstractPlanner::isValid ( const ob::State *  state ) const

inline

isValid() [2/4]

bool AbstractPlanner::isValid ( og::PathGeometric &  path ) const

inline

isValid() [3/4]

bool AbstractPlanner::isValid ( og::PathGeometric &  path, std::vector< Point > &  collisions  ) const

inline

isValid() [4/4]

bool AbstractPlanner::isValid ( ompl::control::PathControl &  path, std::vector< Point > &  collisions  ) const

inline

name()

virtual std::string AbstractPlanner::name ( ) const

pure virtual

Implemented in OMPLAnytimePathShortening< PLANNER >, OMPLControlPlanner< PLANNER >, OMPLPlanner< PLANNER >, OMPLSimplifier, SbplPlanner< PlannerT >, and ThetaStar.

omplPlanner()

virtual ob::Planner * AbstractPlanner::omplPlanner ( )

inlinevirtual

Reimplemented in OMPLSimplifier, OMPLControlPlanner< PLANNER >, OMPLPlanner< PLANNER >, and ThetaStar.

planningTime()

virtual double AbstractPlanner::planningTime ( ) const

pure virtual

Implemented in OMPLSimplifier, OMPLControlPlanner< PLANNER >, OMPLPlanner< PLANNER >, SbplPlanner< PlannerT >, and ThetaStar.

run()

virtual ob::PlannerStatus AbstractPlanner::run ( )

pure virtual

Implemented in OMPLAnytimePathShortening< PLANNER >, OMPLSimplifier, OMPLControlPlanner< PLANNER >, OMPLPlanner< PLANNER >, SbplPlanner< PlannerT >, and ThetaStar.

simpleSetup()

og::SimpleSetup * AbstractPlanner::simpleSetup ( ) const

inline

solution()

virtual og::PathGeometric AbstractPlanner::solution ( ) const

pure virtual

Returns the solution of the planner, which is a sparse PathGeometric.

Implemented in OMPLControlPlanner< PLANNER >, OMPLPlanner< PLANNER >, SbplPlanner< PlannerT >, and ThetaStar.

solutionPath()

virtual std::vector< Point > AbstractPlanner::solutionPath ( ) const

inlinevirtual

Reimplemented in OMPLSimplifier.

Member Data Documentation

control_based_

bool AbstractPlanner::control_based_ {false}

protected

intermediaryControlSolutions

std::vector<IntermediaryControlSolution> AbstractPlanner::intermediaryControlSolutions

intermediarySolutions

std::vector<IntermediarySolution> AbstractPlanner::intermediarySolutions

LastCreatedPlannerName

std::string AbstractPlanner::LastCreatedPlannerName = ""

static

Stores the name of the planner created last.

Used for tracing errors during planner construction.

ss

og::SimpleSetup* AbstractPlanner::ss {nullptr}

protected

ss_c

oc::SimpleSetup* AbstractPlanner::ss_c {nullptr}

protected

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

• src/planners/AbstractPlanner.h
• src/planners/AbstractPlanner.cpp