OMPLSimplifier Class Reference

Derived from AbstractPlanner, this class is intended to simplify existing (hand-crafted) trajectories using OMPL path simplifiers. More...

#include <OMPLSimplifier.hpp>

Inheritance diagram for OMPLSimplifier:

Collaboration diagram for OMPLSimplifier:

Public Member Functions
	OMPLSimplifier (const std::vector< GNode > &path)
	~OMPLSimplifier ()
std::string	name () const override
ob::PlannerStatus	run ()
std::vector< GNode >	solutionTrajectory () const
std::vector< TrajectoryPoint >	solutionPath () const
og::PathGeometric	geometricPath () const
bool	hasReachedGoalExactly () const
double	planningTime () const
ob::Planner *	omplPlanner ()
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}

Detailed Description

Derived from AbstractPlanner, this class is intended to simplify existing (hand-crafted) trajectories using OMPL path simplifiers.

Constructor & Destructor Documentation

OMPLSimplifier()

OMPLSimplifier::OMPLSimplifier ( const std::vector< GNode > &  path )

inlineexplicit

~OMPLSimplifier()

OMPLSimplifier::~OMPLSimplifier ( )

inline

Member Function Documentation

geometricPath()

og::PathGeometric OMPLSimplifier::geometricPath ( ) const

inline

hasReachedGoalExactly()

bool OMPLSimplifier::hasReachedGoalExactly ( ) const

inlinevirtual

Implements AbstractPlanner.

name()

std::string OMPLSimplifier::name ( ) const

inlineoverridevirtual

Implements AbstractPlanner.

omplPlanner()

ob::Planner * OMPLSimplifier::omplPlanner ( )

inlinevirtual

Reimplemented from AbstractPlanner.

planningTime()

double OMPLSimplifier::planningTime ( ) const

inlinevirtual

Implements AbstractPlanner.

run()

ob::PlannerStatus OMPLSimplifier::run ( )

inlinevirtual

Implements AbstractPlanner.

solutionPath()

std::vector< TrajectoryPoint > OMPLSimplifier::solutionPath ( ) const

inlinevirtual

Reimplemented from AbstractPlanner.

solutionTrajectory()

std::vector< GNode > OMPLSimplifier::solutionTrajectory ( ) const

inline

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

• src/planners/OMPLSimplifier.hpp