Public Member Functions | Protected Member Functions
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 ()

Detailed Description

Definition at line 44 of file path_planner_base.h.


Constructor & Destructor Documentation

Definition at line 47 of file path_planner_base.h.

Definition at line 117 of file path_planner_base.h.


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_idID 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_idID 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:
configA 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_codeInteger 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:
pathArray 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:
modelrobot model implementation for which to plan a path
configA 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_idID 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:
trajthe 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_idID 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:
configA map containing the parameter/value pairs.

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


descartes_core
Author(s): Dan Solomon
autogenerated on Wed Aug 26 2015 11:21:21