Saba::MotionPlanner Class Reference

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

Inheritance diagram for Saba::MotionPlanner:

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...
void	setPlanningTimeout (float timeoutMs)

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
float	planningTimeout
	Planning time in milliseconds. More...

Detailed Description

An abstract base class of a motion planner.

Constructor & Destructor Documentation

MotionPlanner()

Saba::MotionPlanner::MotionPlanner

(

CSpacePtr

cspace

)

constructor

~MotionPlanner()

Saba::MotionPlanner::~MotionPlanner ( )

virtual

destructor

Member Function Documentation

createSolution()

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

protectedpure virtual

create the solution

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

getCSpace()

CSpacePtr Saba::MotionPlanner::getCSpace ( )

inline

The CSpace.

getGoalConfig()

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

inline

return goal configuration

getName()

std::string Saba::MotionPlanner::getName

(

)

The name of the planner.

getNrOfCycles()

unsigned int Saba::MotionPlanner::getNrOfCycles ( )

inline

check that planner is initialized

Return number of cycles that were needed for motion planning

getPlanningTimeMS()

float Saba::MotionPlanner::getPlanningTimeMS ( )

inline

Returns the time needed for planning (in milliseconds).

getSolution()

CSpacePathPtr Saba::MotionPlanner::getSolution

(

)

Returns the solution path.

getStartConfig()

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

inline

return start configuration

isInitialized()

bool Saba::MotionPlanner::isInitialized ( )

virtual

returns true, when start and goal config have been set

plan()

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.

printConfig()

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

virtual

Print setup of planner.

Parameters

printOnlyParams

If 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.

reset()

void Saba::MotionPlanner::reset ( )

virtual

reset the planner

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

setGoal()

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

virtual

set goal configuration

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

setMaxCycles()

void Saba::MotionPlanner::setMaxCycles

(

unsigned int

mc

)

Set maximal cycles. Initially set to 50000.

setName()

void Saba::MotionPlanner::setName

(

std::string

sName

)

Give the planner a name.

setPlanningTimeout()

void Saba::MotionPlanner::setPlanningTimeout

(

float

timeoutMs

)

setStart()

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

virtual

set start configuration

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

stopExecution()

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

cspace

CSpacePtr Saba::MotionPlanner::cspace

protected

the cspace on which are operating

cycles

unsigned int Saba::MotionPlanner::cycles

protected

current cycles done in the run method

dimension

unsigned int Saba::MotionPlanner::dimension

protected

dimension of c-space

goalConfig

Eigen::VectorXf Saba::MotionPlanner::goalConfig

protected

goal config

goalValid

bool Saba::MotionPlanner::goalValid

protected

maxCycles

unsigned int Saba::MotionPlanner::maxCycles

protected

maximum cycles for searching

name

std::string Saba::MotionPlanner::name

protected

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

planningTime

float Saba::MotionPlanner::planningTime

protected

planningTimeout

float Saba::MotionPlanner::planningTimeout

protected

Planning time in milliseconds.

solution

CSpacePathPtr Saba::MotionPlanner::solution

protected

the solution

startConfig

Eigen::VectorXf Saba::MotionPlanner::startConfig

protected

start config

startValid

bool Saba::MotionPlanner::startValid

protected

stopSearch

bool Saba::MotionPlanner::stopSearch

protected

indicates that the search should be interrupted