descartes_planner::CapsulatedLadderTreeRRTstar Class Reference

#include <capsulated_ladder_tree_RRTstar.h>

Public Member Functions
	CapsulatedLadderTreeRRTstar (const std::vector< ConstrainedSegment > &segs, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_completed=std::vector< planning_scene::PlanningScenePtr >())
	CapsulatedLadderTreeRRTstar (const std::vector< ConstrainedSegmentPickNPlace > &segs)
void	extractSolution (descartes_core::RobotModel &model, std::vector< descartes_core::TrajectoryPtPtr > &sol, std::vector< descartes_planner::LadderGraph > &graphs, std::vector< int > &graph_indices, const bool use_saved_graph)
std::vector< std::vector< int > >	getGraphPartitionIds () const
double	solve (descartes_core::RobotModel &model, double clt_rrt_unit_process_timeout, double clt_rrt_timeout)
double	solvePickNPlace (descartes_core::RobotModel &model, double clt_rrt_unit_process_timeout, double clt_rrt_timeout)
	~CapsulatedLadderTreeRRTstar ()

Private Attributes
std::vector< CapRung >	cap_rungs_

Detailed Description

Definition at line 17 of file capsulated_ladder_tree_RRTstar.h.

Constructor & Destructor Documentation

descartes_planner::CapsulatedLadderTreeRRTstar::CapsulatedLadderTreeRRTstar	(	const std::vector< ConstrainedSegment > &	segs,
		const std::vector< planning_scene::PlanningScenePtr > &	planning_scenes,
		const std::vector< planning_scene::PlanningScenePtr > &	planning_scenes_completed = std::vector<planning_scene::PlanningScenePtr>()
	)

Definition at line 31 of file capsulated_ladder_tree_RRTstar.cpp.

descartes_planner::CapsulatedLadderTreeRRTstar::CapsulatedLadderTreeRRTstar

(

const std::vector< ConstrainedSegmentPickNPlace > &

segs

)

Definition at line 82 of file capsulated_ladder_tree_RRTstar.cpp.

descartes_planner::CapsulatedLadderTreeRRTstar::~CapsulatedLadderTreeRRTstar

(

)

Definition at line 136 of file capsulated_ladder_tree_RRTstar.cpp.

Member Function Documentation

void descartes_planner::CapsulatedLadderTreeRRTstar::extractSolution	(	descartes_core::RobotModel &	model,
		std::vector< descartes_core::TrajectoryPtPtr > &	sol,
		std::vector< descartes_planner::LadderGraph > &	graphs,
		std::vector< int > &	graph_indices,
		const bool	use_saved_graph
	)

Definition at line 411 of file capsulated_ladder_tree_RRTstar.cpp.

std::vector<std::vector<int> > descartes_planner::CapsulatedLadderTreeRRTstar::getGraphPartitionIds ( ) const

inline

Definition at line 33 of file capsulated_ladder_tree_RRTstar.h.

double descartes_planner::CapsulatedLadderTreeRRTstar::solve	(	descartes_core::RobotModel &	model,
		double	clt_rrt_unit_process_timeout,
		double	clt_rrt_timeout
	)

Definition at line 151 of file capsulated_ladder_tree_RRTstar.cpp.

double descartes_planner::CapsulatedLadderTreeRRTstar::solvePickNPlace	(	descartes_core::RobotModel &	model,
		double	clt_rrt_unit_process_timeout,
		double	clt_rrt_timeout
	)

Definition at line 281 of file capsulated_ladder_tree_RRTstar.cpp.

Member Data Documentation

std::vector<CapRung> descartes_planner::CapsulatedLadderTreeRRTstar::cap_rungs_

private

Definition at line 62 of file capsulated_ladder_tree_RRTstar.h.

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

• capsulated_ladder_tree_RRTstar.h
• capsulated_ladder_tree_RRTstar.cpp