#include <time_indexed_rrt_connect.h>

Inheritance diagram for exotica::TimeIndexedRRTConnectSolver:

[legend]

Public Member Functions
void	Instantiate (const TimeIndexedRRTConnectSolverInitializer &init) override

void	SetPlannerTerminationCondition (const std::shared_ptr< ompl::base::PlannerTerminationCondition > &ptc)

void	Solve (Eigen::MatrixXd &solution) override

void	SpecifyProblem (PlanningProblemPtr pointer) override

Public Member Functions inherited from exotica::MotionSolver
int	GetNumberOfMaxIterations ()

double	GetPlanningTime ()

PlanningProblemPtr	GetProblem () const

void	InstantiateBase (const Initializer &init) override

	MotionSolver ()=default

std::string	Print (const std::string &prepend) const override

void	SetNumberOfMaxIterations (int max_iter)

virtual	~MotionSolver ()=default

Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	type () const

virtual	~Object ()

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

Protected Member Functions
void	GetPath (Eigen::MatrixXd &traj, ompl::base::PlannerTerminationCondition &ptc)

void	PostSolve ()

void	PreSolve ()

void	SetGoalState (const Eigen::VectorXd &qT, const double t, const double eps=0)

Static Protected Member Functions
template<typename T >
static ompl::base::PlannerPtr	allocatePlanner (const ompl::base::SpaceInformationPtr &si, const std::string &new_name)

Protected Attributes
std::string	algorithm_

ompl::geometric::SimpleSetupPtr	ompl_simple_setup_

ConfiguredPlannerAllocator	planner_allocator_

TimeIndexedSamplingProblemPtr	prob_

std::shared_ptr< ompl::base::PlannerTerminationCondition >	ptc_

ompl::base::StateSpacePtr	state_space_

Protected Attributes inherited from exotica::MotionSolver
int	max_iterations_

double	planning_time_

PlanningProblemPtr	problem_

Additional Inherited Members
Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Private Member Functions inherited from exotica::Instantiable< TimeIndexedRRTConnectSolverInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const TimeIndexedRRTConnectSolverInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Private Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

Private Attributes inherited from exotica::Instantiable< TimeIndexedRRTConnectSolverInitializer >
TimeIndexedRRTConnectSolverInitializer	parameters_

Detailed Description

Definition at line 106 of file time_indexed_rrt_connect.h.

Member Function Documentation

template<typename T >

static ompl::base::PlannerPtr exotica::TimeIndexedRRTConnectSolver::allocatePlanner	(	const ompl::base::SpaceInformationPtr &	si,
		const std::string &	new_name
	)

inlinestaticprotected

Definition at line 116 of file time_indexed_rrt_connect.h.

void exotica::TimeIndexedRRTConnectSolver::GetPath	(	Eigen::MatrixXd &	traj,
		ompl::base::PlannerTerminationCondition &	ptc
	)

protected

Definition at line 180 of file time_indexed_rrt_connect.cpp.

void exotica::TimeIndexedRRTConnectSolver::Instantiate ( const TimeIndexedRRTConnectSolverInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< TimeIndexedRRTConnectSolverInitializer >.

Definition at line 105 of file time_indexed_rrt_connect.cpp.

void exotica::TimeIndexedRRTConnectSolver::PostSolve ( )

protected

Definition at line 144 of file time_indexed_rrt_connect.cpp.

void exotica::TimeIndexedRRTConnectSolver::PreSolve ( )

protected

Definition at line 134 of file time_indexed_rrt_connect.cpp.

void exotica::TimeIndexedRRTConnectSolver::SetGoalState	(	const Eigen::VectorXd &	qT,
		const double	t,
		const double	eps = `0`
	)

protected

Definition at line 156 of file time_indexed_rrt_connect.cpp.

void exotica::TimeIndexedRRTConnectSolver::SetPlannerTerminationCondition ( const std::shared_ptr< ompl::base::PlannerTerminationCondition > & ptc )

Definition at line 270 of file time_indexed_rrt_connect.cpp.

void exotica::TimeIndexedRRTConnectSolver::Solve ( Eigen::MatrixXd & solution )

overridevirtual

Implements exotica::MotionSolver.

Definition at line 240 of file time_indexed_rrt_connect.cpp.

void exotica::TimeIndexedRRTConnectSolver::SpecifyProblem ( PlanningProblemPtr pointer )

overridevirtual

Reimplemented from exotica::MotionSolver.

Definition at line 118 of file time_indexed_rrt_connect.cpp.