OMPLControlPlanner< PLANNER > Class Template Reference

#include <OMPLControlPlanner.hpp>

Inheritance diagram for OMPLControlPlanner< PLANNER >:

Collaboration diagram for OMPLControlPlanner< PLANNER >:

Public Member Functions
	OMPLControlPlanner ()
ob::PlannerStatus	run () override
void	setStatePropagator ()
	Set the needed state propagator. More...
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
ob::PlannerTerminationCondition	approxSolnPlannerTerminationCondition (const ompl::base::ProblemDefinitionPtr &pdef)
Public Member Functions inherited from AbstractPlanner
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

Additional Inherited Members
Public Attributes inherited from AbstractPlanner
std::vector< IntermediarySolution >	intermediarySolutions
std::vector< IntermediaryControlSolution >	intermediaryControlSolutions
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}

Constructor & Destructor Documentation

OMPLControlPlanner()

template<class PLANNER >

OMPLControlPlanner< PLANNER >::OMPLControlPlanner ( )

inline

Member Function Documentation

approxSolnPlannerTerminationCondition()

template<class PLANNER >

ob::PlannerTerminationCondition OMPLControlPlanner< PLANNER >::approxSolnPlannerTerminationCondition ( const ompl::base::ProblemDefinitionPtr &  pdef )

inline

getSettings()

template<class PLANNER >

virtual nlohmann::json OMPLControlPlanner< PLANNER >::getSettings ( ) const

inlineoverridevirtual

Reimplemented from AbstractPlanner.

hasReachedGoalExactly()

template<class PLANNER >

bool OMPLControlPlanner< PLANNER >::hasReachedGoalExactly ( ) const

inlineoverridevirtual

Implements AbstractPlanner.

name()

template<class PLANNER >

std::string OMPLControlPlanner< PLANNER >::name ( ) const

inlineoverridevirtual

Implements AbstractPlanner.

omplPlanner()

template<class PLANNER >

ob::Planner * OMPLControlPlanner< PLANNER >::omplPlanner ( )

inlineoverridevirtual

Reimplemented from AbstractPlanner.

planningTime()

template<class PLANNER >

double OMPLControlPlanner< PLANNER >::planningTime ( ) const

inlineoverridevirtual

Implements AbstractPlanner.

run()

template<class PLANNER >

ob::PlannerStatus OMPLControlPlanner< PLANNER >::run ( )

inlineoverridevirtual

Implements AbstractPlanner.

setStatePropagator()

template<class PLANNER >

void OMPLControlPlanner< PLANNER >::setStatePropagator ( )

inline

Set the needed state propagator.

Returns

void

solution()

template<class PLANNER >

og::PathGeometric OMPLControlPlanner< PLANNER >::solution ( ) const

inlineoverridevirtual

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

Implements AbstractPlanner.

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

• src/planners/OMPLControlPlanner.hpp