#include <time_indexed_rrt_connect.h>
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_ |
Definition at line 106 of file time_indexed_rrt_connect.h.
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inlinestaticprotected |
Definition at line 116 of file time_indexed_rrt_connect.h.
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protected |
Definition at line 180 of file time_indexed_rrt_connect.cpp.
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overridevirtual |
Reimplemented from exotica::Instantiable< TimeIndexedRRTConnectSolverInitializer >.
Definition at line 105 of file time_indexed_rrt_connect.cpp.
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protected |
Definition at line 144 of file time_indexed_rrt_connect.cpp.
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protected |
Definition at line 134 of file time_indexed_rrt_connect.cpp.
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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.
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overridevirtual |
Implements exotica::MotionSolver.
Definition at line 240 of file time_indexed_rrt_connect.cpp.
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overridevirtual |
Reimplemented from exotica::MotionSolver.
Definition at line 118 of file time_indexed_rrt_connect.cpp.
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protected |
Definition at line 132 of file time_indexed_rrt_connect.h.
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protected |
Definition at line 129 of file time_indexed_rrt_connect.h.
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protected |
Definition at line 131 of file time_indexed_rrt_connect.h.
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protected |
Definition at line 128 of file time_indexed_rrt_connect.h.
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protected |
Definition at line 133 of file time_indexed_rrt_connect.h.
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protected |
Definition at line 130 of file time_indexed_rrt_connect.h.