descartes_core::PathPlannerBase Class Reference

#include <path_planner_base.h>

List of all members.

Public Member Functions
virtual bool	addAfter (const TrajectoryPt::ID &ref_id, TrajectoryPtPtr tp)=0
	Add a point to the current path after the point with 'ref_id'.
virtual bool	addBefore (const TrajectoryPt::ID &ref_id, TrajectoryPtPtr tp)=0
	Add a point to the current path before the point with 'ref_id'.
virtual void	getConfig (PlannerConfig &config) const =0
	Get the current configuration parameters used by the planner.
virtual int	getErrorCode () const =0
	Returns the last error code.
virtual bool	getErrorMessage (int error_code, std::string &msg) const =0
	Gets the error message corresponding to the error code.
virtual bool	getPath (std::vector< TrajectoryPtPtr > &path) const =0
	Returns the last robot path generated from the input trajectory.
virtual bool	initialize (RobotModelConstPtr model)=0
	Plans a path for the given robot model and configuration parameters.
virtual bool	modify (const TrajectoryPt::ID &ref_id, TrajectoryPtPtr tp)=0
	Modifies the point with 'ref_id'.
virtual bool	planPath (const std::vector< TrajectoryPtPtr > &traj)=0
	Generates a robot path from the trajectory.
virtual bool	remove (const TrajectoryPt::ID &ref_id)=0
	Removes the point with 'ref_id' from the path.
virtual bool	setConfig (const PlannerConfig &config)=0
	Configure the planner's parameters. Should return 'true' when all the entries were properly parsed.
virtual	~PathPlannerBase ()
Protected Member Functions
	PathPlannerBase ()

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Detailed Description

Definition at line 44 of file path_planner_base.h.

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Constructor & Destructor Documentation

virtual descartes_core::PathPlannerBase::~PathPlannerBase

(

)

[inline, virtual]

Definition at line 47 of file path_planner_base.h.

descartes_core::PathPlannerBase::PathPlannerBase

(

)

[inline, protected]

Definition at line 117 of file path_planner_base.h.

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Member Function Documentation

virtual bool descartes_core::PathPlannerBase::addAfter	(	const TrajectoryPt::ID &	ref_id,
		TrajectoryPtPtr	tp
	)		[pure virtual]

Add a point to the current path after the point with 'ref_id'.

Parameters:

ref_id

ID of the reference point

virtual bool descartes_core::PathPlannerBase::addBefore	(	const TrajectoryPt::ID &	ref_id,
		TrajectoryPtPtr	tp
	)		[pure virtual]

Add a point to the current path before the point with 'ref_id'.

Parameters:

ref_id

ID of the reference point

virtual void descartes_core::PathPlannerBase::getConfig

(

PlannerConfig &

config

)

const [pure virtual]

Get the current configuration parameters used by the planner.

Parameters:

config

A map containing the current parameter/value pairs.

virtual int descartes_core::PathPlannerBase::getErrorCode

(

)

const [pure virtual]

Returns the last error code.

virtual bool descartes_core::PathPlannerBase::getErrorMessage	(	int	error_code,
		std::string &	msg
	)		const [pure virtual]

Gets the error message corresponding to the error code.

Parameters:

error_code

Integer code from the PlannerError enumeration.

virtual bool descartes_core::PathPlannerBase::getPath

(

std::vector< TrajectoryPtPtr > &

path

)

const [pure virtual]

Returns the last robot path generated from the input trajectory.

Parameters:

path	Array that contains the points in the robot path

virtual bool descartes_core::PathPlannerBase::initialize

(

RobotModelConstPtr

model

)

[pure virtual]

Plans a path for the given robot model and configuration parameters.

Parameters:

model	robot model implementation for which to plan a path
config	A map containing the parameter/value pairs.

virtual bool descartes_core::PathPlannerBase::modify	(	const TrajectoryPt::ID &	ref_id,
		TrajectoryPtPtr	tp
	)		[pure virtual]

Modifies the point with 'ref_id'.

Parameters:

ref_id

ID of the reference point

virtual bool descartes_core::PathPlannerBase::planPath

(

const std::vector< TrajectoryPtPtr > &

traj

)

[pure virtual]

Generates a robot path from the trajectory.

Parameters:

traj	the points used to plan the robot path Integer flag which indicates the type of error encountered during planning.

virtual bool descartes_core::PathPlannerBase::remove

(

const TrajectoryPt::ID &

ref_id

)

[pure virtual]

Removes the point with 'ref_id' from the path.

Parameters:

ref_id

ID of the reference point

virtual bool descartes_core::PathPlannerBase::setConfig

(

const PlannerConfig &

config

)

[pure virtual]

Configure the planner's parameters. Should return 'true' when all the entries were properly parsed.

Parameters:

config

A map containing the parameter/value pairs.

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

• path_planner_base.h