ThetaStar Class Reference

#include <ThetaStar.h>

Inheritance diagram for ThetaStar:

Collaboration diagram for ThetaStar:

Public Member Functions
	ThetaStar ()
virtual	~ThetaStar ()
std::string	name () const override
bool	initialize ()
void	setProblemDefinition (const ob::ProblemDefinitionPtr &pdef) override
ob::PlannerStatus	solve (const ob::PlannerTerminationCondition &ptc) override
ob::PlannerStatus	run () 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
unsigned int	steps () const
ob::Planner *	omplPlanner () override
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

Protected Member Functions
	ThetaStar (bool astar, std::string name)
Protected Member Functions inherited from AbstractPlanner
	AbstractPlanner (const std::string &name)

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 Attributes inherited from AbstractPlanner
og::SimpleSetup *	ss {nullptr}
oc::SimpleSetup *	ss_c {nullptr}
bool	control_based_ {false}

Constructor & Destructor Documentation

ThetaStar() [1/2]

ThetaStar::ThetaStar

(

)

Euclidean Cost

~ThetaStar()

ThetaStar::~ThetaStar ( )

virtualdefault

ThetaStar() [2/2]

ThetaStar::ThetaStar ( bool  astar, std::string  name  )

explicitprotected

Euclidean Cost

Member Function Documentation

hasReachedGoalExactly()

bool ThetaStar::hasReachedGoalExactly ( ) const

overridevirtual

Implements AbstractPlanner.

initialize()

bool ThetaStar::initialize

(

)

name()

std::string ThetaStar::name ( ) const

inlineoverridevirtual

Implements AbstractPlanner.

omplPlanner()

ob::Planner * ThetaStar::omplPlanner ( )

inlineoverridevirtual

Reimplemented from AbstractPlanner.

planningTime()

double ThetaStar::planningTime ( ) const

overridevirtual

Implements AbstractPlanner.

run()

ob::PlannerStatus ThetaStar::run ( )

overridevirtual

Implements AbstractPlanner.

setProblemDefinition()

void ThetaStar::setProblemDefinition ( const ob::ProblemDefinitionPtr &  pdef )

override

solution()

og::PathGeometric ThetaStar::solution ( ) const

overridevirtual

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

Implements AbstractPlanner.

solve()

ob::PlannerStatus ThetaStar::solve ( const ob::PlannerTerminationCondition &  ptc )

override

steps()

unsigned int ThetaStar::steps

(

)

const

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

• src/planners/thetastar/ThetaStar.h
• src/planners/thetastar/ThetaStar.cpp