Simox  2.3.49
Saba::MotionPlanner Class Referenceabstract

An abstract base class of a motion planner. More...

Inheritance diagram for Saba::MotionPlanner:
Saba::Rrt Saba::BiRrt Saba::GraspRrt Saba::GraspIkRrt

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW MotionPlanner (CSpacePtr cspace)
 
virtual ~MotionPlanner ()
 destructor More...
 
virtual bool plan (bool bQuiet=false)=0
 
CSpacePathPtr getSolution ()
 
void setMaxCycles (unsigned int mc)
 
Eigen::VectorXf getStartConfig ()
 return start configuration More...
 
Eigen::VectorXf getGoalConfig ()
 return goal configuration More...
 
virtual void reset ()
 reset the planner More...
 
virtual bool setStart (const Eigen::VectorXf &c)
 set start configuration More...
 
virtual bool setGoal (const Eigen::VectorXf &c)
 set goal configuration More...
 
unsigned int getNrOfCycles ()
 check that planner is initialized More...
 
virtual void printConfig (bool printOnlyParams=false)
 
CSpacePtr getCSpace ()
 The CSpace. More...
 
virtual void stopExecution ()
 
void setName (std::string sName)
 Give the planner a name. More...
 
std::string getName ()
 The name of the planner. More...
 
float getPlanningTimeMS ()
 
virtual bool isInitialized ()
 returns true, when start and goal config have been set More...
 

Protected Member Functions

virtual bool createSolution (bool bQuiet=false)=0
 create the solution More...
 

Protected Attributes

CSpacePtr cspace
 the cspace on which are operating More...
 
CSpacePathPtr solution
 the solution More...
 
bool stopSearch
 indicates that the search should be interrupted More...
 
unsigned int dimension
 dimension of c-space More...
 
Eigen::VectorXf startConfig
 start config More...
 
bool startValid
 
Eigen::VectorXf goalConfig
 goal config More...
 
bool goalValid
 
unsigned int maxCycles
 maximum cycles for searching More...
 
unsigned int cycles
 current cycles done in the run method More...
 
std::string name
 Name of this planner (standard: "Motion Planner") More...
 
float planningTime
 

Detailed Description

An abstract base class of a motion planner.

Constructor & Destructor Documentation

Saba::MotionPlanner::MotionPlanner ( CSpacePtr  cspace)

constructor

Saba::MotionPlanner::~MotionPlanner ( )
virtual

destructor

Member Function Documentation

virtual bool Saba::MotionPlanner::createSolution ( bool  bQuiet = false)
protectedpure virtual

create the solution

Implemented in Saba::Rrt, and Saba::BiRrt.

CSpacePtr Saba::MotionPlanner::getCSpace ( )
inline

The CSpace.

Eigen::VectorXf Saba::MotionPlanner::getGoalConfig ( )
inline

return goal configuration

std::string Saba::MotionPlanner::getName ( )

The name of the planner.

unsigned int Saba::MotionPlanner::getNrOfCycles ( )
inline

check that planner is initialized

Return number of cycles that were needed for motion planning

float Saba::MotionPlanner::getPlanningTimeMS ( )
inline

Returns the time needed for planning (in milliseconds).

CSpacePathPtr Saba::MotionPlanner::getSolution ( )

Returns the solution path.

Eigen::VectorXf Saba::MotionPlanner::getStartConfig ( )
inline

return start configuration

bool Saba::MotionPlanner::isInitialized ( )
virtual

returns true, when start and goal config have been set

virtual bool Saba::MotionPlanner::plan ( bool  bQuiet = false)
pure virtual

do the planning (blocking method)

Returns
true if solution was found, otherwise false

Implemented in Saba::GraspRrt, Saba::Rrt, Saba::GraspIkRrt, and Saba::BiRrt.

void Saba::MotionPlanner::printConfig ( bool  printOnlyParams = false)
virtual

Print setup of planner.

Parameters
printOnlyParamsIf set the decorating start and end is skipped (can be used to print derived classes).

Reimplemented in Saba::GraspRrt, Saba::Rrt, Saba::GraspIkRrt, and Saba::BiRrt.

void Saba::MotionPlanner::reset ( )
virtual

reset the planner

Reimplemented in Saba::GraspRrt, Saba::Rrt, Saba::GraspIkRrt, and Saba::BiRrt.

bool Saba::MotionPlanner::setGoal ( const Eigen::VectorXf &  c)
virtual

set goal configuration

Reimplemented in Saba::GraspRrt, Saba::Rrt, Saba::BiRrt, and Saba::GraspIkRrt.

void Saba::MotionPlanner::setMaxCycles ( unsigned int  mc)

Set maximal cycles. Initially set to 50000.

void Saba::MotionPlanner::setName ( std::string  sName)

Give the planner a name.

bool Saba::MotionPlanner::setStart ( const Eigen::VectorXf &  c)
virtual

set start configuration

Reimplemented in Saba::GraspRrt, Saba::Rrt, and Saba::BiRrt.

virtual void Saba::MotionPlanner::stopExecution ( )
inlinevirtual

Sets stop flag, so that this planner can be notified to abort the search. Only useful for threaded planners.

Field Documentation

CSpacePtr Saba::MotionPlanner::cspace
protected

the cspace on which are operating

unsigned int Saba::MotionPlanner::cycles
protected

current cycles done in the run method

unsigned int Saba::MotionPlanner::dimension
protected

dimension of c-space

Eigen::VectorXf Saba::MotionPlanner::goalConfig
protected

goal config

bool Saba::MotionPlanner::goalValid
protected
unsigned int Saba::MotionPlanner::maxCycles
protected

maximum cycles for searching

std::string Saba::MotionPlanner::name
protected

Name of this planner (standard: "Motion Planner")

float Saba::MotionPlanner::planningTime
protected
CSpacePathPtr Saba::MotionPlanner::solution
protected

the solution

Eigen::VectorXf Saba::MotionPlanner::startConfig
protected

start config

bool Saba::MotionPlanner::startValid
protected
bool Saba::MotionPlanner::stopSearch
protected

indicates that the search should be interrupted