Bench-MR
A Motion Planning Benchmark for Wheeled Mobile Robots
Public Member Functions | Public Attributes | List of all members
OMPLAnytimePathShortening< PLANNER > Class Template Reference

#include <OMPLAnytimePathShortening.hpp>

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Public Member Functions

std::string name () const override
 
virtual ob::PlannerStatus run ()
 
- Public Member Functions inherited from OMPLPlanner< PLANNER >
 OMPLPlanner ()
 
ob::PlannerStatus run () override
 
std::string name () const override
 
og::PathGeometric solution () const override
 Returns the solution of the planner, which is a sparse PathGeometric. More...
 
bool hasReachedGoalExactly () const override
 
double planningTime () const override
 
ob::Planner * omplPlanner () override
 
virtual nlohmann::json getSettings () const override
 
- Public Member Functions inherited from AbstractPlanner
virtual std::string name () const =0
 
virtual ~AbstractPlanner ()
 
virtual ob::PlannerStatus run ()=0
 
virtual std::vector< PointsolutionPath () 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

bool shortcut {true}
 
bool hybridize {true}
 
- Public Attributes inherited from AbstractPlanner
std::vector< IntermediarySolutionintermediarySolutions
 
std::vector< IntermediaryControlSolutionintermediaryControlSolutions
 

Additional Inherited Members

- Static Public Attributes inherited from AbstractPlanner
static std::string LastCreatedPlannerName = ""
 Stores the name of the planner created last. More...
 
- Protected Member Functions inherited from AbstractPlanner
 AbstractPlanner (const std::string &name)
 
- Protected Attributes inherited from AbstractPlanner
og::SimpleSetup * ss {nullptr}
 
oc::SimpleSetup * ss_c {nullptr}
 
bool control_based_ {false}
 

Member Function Documentation

◆ name()

template<class PLANNER >
std::string OMPLAnytimePathShortening< PLANNER >::name ( ) const
inlineoverridevirtual

Implements AbstractPlanner.

◆ run()

template<class PLANNER >
virtual ob::PlannerStatus OMPLAnytimePathShortening< PLANNER >::run ( )
inlinevirtual

Implements AbstractPlanner.

Member Data Documentation

◆ hybridize

template<class PLANNER >
bool OMPLAnytimePathShortening< PLANNER >::hybridize {true}

◆ shortcut

template<class PLANNER >
bool OMPLAnytimePathShortening< PLANNER >::shortcut {true}

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