Generic incremental sampling-based motion planner. More...
#include <base_incremental.h>
Public Member Functions | |
| planner_incremental (sampler_t &sampler_in, distance_evaluator_t &distance_evaluator_in, extender_t &extender_in, collision_checker_t &collision_checker_in, model_checker_t &model_checker_in) | |
| A constructor that initializes all components. | |
| int | initialize (state_t *initial_state_in=0) |
| A function call to initialize the incremental sampling-based planner. | |
| vertex_t * | get_root_vertex () |
| Returns a pointer to the root vertex. | |
| virtual int | iteration ()=0 |
| A virtual call to initiate one iteration of the algorithm. | |
Public Attributes | |
| vertex_t * | root_vertex |
| A pointer to the root vertex of the incremental algorithm. | |
Generic incremental sampling-based motion planner.
The generic incremental sampling-based motion planner inherits from the generic sampling-based motion planner and provides the virtual iteration() function, which is overloaded by the inheriting incremental sampling-based algorithm.
| smp::planner_incremental< typeparams >::planner_incremental | ( | sampler_t & | sampler_in, |
| distance_evaluator_t & | distance_evaluator_in, | ||
| extender_t & | extender_in, | ||
| collision_checker_t & | collision_checker_in, | ||
| model_checker_t & | model_checker_in | ||
| ) |
A constructor that initializes all components.
This is the recommended constructor that initializes all components all at once.
| sampler_in | New sampler component. |
| distance_evaluator_in | New distance evaluator component. |
| extender_in | New extension function component. |
| collision_checker_in | New collision checker component. |
| model_checker_in | New model checker component. |
| vertex_t* smp::planner_incremental< typeparams >::get_root_vertex | ( | ) | [inline] |
Returns a pointer to the root vertex.
An incremental planner might (optionally) have a root vertex, a pointer to which can be obtained using this function.
| int smp::planner_incremental< typeparams >::initialize | ( | state_t * | initial_state_in = 0 | ) |
A function call to initialize the incremental sampling-based planner.
Deletes the current graph stored by the planner. If the initial_state_in argument is non-NULL, creates a new vertex that with the state stored in the initial_state_in argument.
| initial_state_in | The state that the root_vertex will include. If this argument is NULL, then no root vertex is created (But, the graph stored in the planner is deleted. |
Reimplemented in smp::rrtstar< typeparams >.
| virtual int smp::planner_incremental< typeparams >::iteration | ( | ) | [pure virtual] |
A virtual call to initiate one iteration of the algorithm.
Runs one iteration of the inheriting incremental sampling-based algorithm, which overloads this function.
Implemented in smp::rrg< typeparams >, smp::rrt< typeparams >, and smp::rrtstar< typeparams >.
| vertex_t* smp::planner_incremental< typeparams >::root_vertex |
A pointer to the root vertex of the incremental algorithm.
Any incremental algorithm is assumed to generate a graph of trajectories of a dynamical system such that each trajectory starts from a given initial condition. This variable is a pointer to the vertex that stores the initial state.
