se2ez
Public Member Functions | Public Attributes | Protected Attributes | List of all members
se2ez::plan::EZPlans Class Reference

#include <helper.h>

Inheritance diagram for se2ez::plan::EZPlans:
[legend]

Public Member Functions

 EZPlans (const RobotPtr &robot)
 
virtual ~EZPlans ()
 
template<typename T , typename... Args>
std::shared_ptr< T > makePlanner (Args &&... args)
 
template<typename T , typename... Args>
std::shared_ptr< T > setPlanner (Args &&... args)
 
virtual void initialize ()
 
virtual void updateValidityChecker ()
 
void createPlanners ()
 
bool setStart (const std::string &name)
 
bool setGoal (const std::string &name)
 
bool setStartGoal (const std::string &start, const std::string &goal)
 
bool setStart (const Eigen::VectorXd &vec)
 
bool setGoal (const Eigen::VectorXd &vec)
 
bool setStartGoal (const Eigen::VectorXd &start, const Eigen::VectorXd &goal)
 
bool setStart (const StatePtr &state)
 
bool setGoal (const StatePtr &state)
 
bool setStartGoal (const StatePtr &start, const StatePtr &goal)
 
virtual bool postSetState (const ompl::base::State *state)
 
std::vector< std::string > getPlanners ()
 
void setPlanner (const std::string &name)
 
void postprocess (bool simplify, bool interpolate)
 
std::vector< StatePtr > extractPath () const
 
virtual StatePtr getState (ompl::base::State *state) const
 
virtual const StatePtr getStateConst (const ompl::base::State *state) const
 

Public Attributes

StateSpacePtr rspace
 
ompl::base::StateSpacePtr space
 
ompl::base::SpaceInformationPtr info
 
ompl::geometric::SimpleSetupPtr setup
 

Protected Attributes

const RobotPtr robot_
 
std::map< std::string, ompl::base::PlannerPtr > planners_
 

Detailed Description

Definition at line 30 of file helper.h.

Constructor & Destructor Documentation

◆ EZPlans()

plan::EZPlans::EZPlans ( const RobotPtr &  robot)

EZPlans

Definition at line 44 of file helper.cpp.

◆ ~EZPlans()

plan::EZPlans::~EZPlans ( )
virtual

Definition at line 48 of file helper.cpp.

Member Function Documentation

◆ createPlanners()

void plan::EZPlans::createPlanners ( )

Definition at line 66 of file helper.cpp.

◆ extractPath()

std::vector< StatePtr > plan::EZPlans::extractPath ( ) const

Definition at line 205 of file helper.cpp.

◆ getPlanners()

std::vector< std::string > plan::EZPlans::getPlanners ( )

EZPlans Path Functions

Definition at line 176 of file helper.cpp.

◆ getState()

StatePtr plan::EZPlans::getState ( ompl::base::State *  state) const
virtual

Reimplemented in se2ez::plan::EZPlansConstraint.

Definition at line 216 of file helper.cpp.

◆ getStateConst()

const StatePtr plan::EZPlans::getStateConst ( const ompl::base::State *  state) const
virtual

Reimplemented in se2ez::plan::EZPlansConstraint.

Definition at line 221 of file helper.cpp.

◆ initialize()

void plan::EZPlans::initialize ( )
virtual

Reimplemented in se2ez::plan::EZPlansConstraint.

Definition at line 52 of file helper.cpp.

◆ makePlanner()

template<typename T , typename... Args>
std::shared_ptr<T> se2ez::plan::EZPlans::makePlanner ( Args &&...  args)
inline

Definition at line 37 of file helper.h.

◆ postprocess()

void plan::EZPlans::postprocess ( bool  simplify,
bool  interpolate 
)

Definition at line 193 of file helper.cpp.

◆ postSetState()

bool plan::EZPlans::postSetState ( const ompl::base::State *  state)
virtual

Reimplemented in se2ez::plan::EZPlansConstraint.

Definition at line 167 of file helper.cpp.

◆ setGoal() [1/3]

bool plan::EZPlans::setGoal ( const std::string &  name)

Definition at line 110 of file helper.cpp.

◆ setGoal() [2/3]

bool plan::EZPlans::setGoal ( const Eigen::VectorXd &  vec)

Definition at line 131 of file helper.cpp.

◆ setGoal() [3/3]

bool plan::EZPlans::setGoal ( const StatePtr &  state)

Definition at line 153 of file helper.cpp.

◆ setPlanner() [1/2]

template<typename T , typename... Args>
std::shared_ptr<T> se2ez::plan::EZPlans::setPlanner ( Args &&...  args)
inline

Definition at line 45 of file helper.h.

◆ setPlanner() [2/2]

void plan::EZPlans::setPlanner ( const std::string &  name)

Definition at line 185 of file helper.cpp.

◆ setStart() [1/3]

bool plan::EZPlans::setStart ( const std::string &  name)

EZPlans State Functions

Definition at line 102 of file helper.cpp.

◆ setStart() [2/3]

bool plan::EZPlans::setStart ( const Eigen::VectorXd &  vec)

Definition at line 123 of file helper.cpp.

◆ setStart() [3/3]

bool plan::EZPlans::setStart ( const StatePtr &  state)

Definition at line 144 of file helper.cpp.

◆ setStartGoal() [1/3]

bool plan::EZPlans::setStartGoal ( const std::string &  start,
const std::string &  goal 
)

Definition at line 118 of file helper.cpp.

◆ setStartGoal() [2/3]

bool plan::EZPlans::setStartGoal ( const Eigen::VectorXd &  start,
const Eigen::VectorXd &  goal 
)

Definition at line 139 of file helper.cpp.

◆ setStartGoal() [3/3]

bool plan::EZPlans::setStartGoal ( const StatePtr &  start,
const StatePtr &  goal 
)

Definition at line 162 of file helper.cpp.

◆ updateValidityChecker()

void plan::EZPlans::updateValidityChecker ( )
virtual

Reimplemented in se2ez::plan::EZPlansConstraint.

Definition at line 60 of file helper.cpp.

Member Data Documentation

◆ info

ompl::base::SpaceInformationPtr se2ez::plan::EZPlans::info

Definition at line 92 of file helper.h.

◆ planners_

std::map<std::string, ompl::base::PlannerPtr> se2ez::plan::EZPlans::planners_
protected

Definition at line 97 of file helper.h.

◆ robot_

const RobotPtr se2ez::plan::EZPlans::robot_
protected

Definition at line 96 of file helper.h.

◆ rspace

StateSpacePtr se2ez::plan::EZPlans::rspace

Definition at line 90 of file helper.h.

◆ setup

ompl::geometric::SimpleSetupPtr se2ez::plan::EZPlans::setup

Definition at line 93 of file helper.h.

◆ space

ompl::base::StateSpacePtr se2ez::plan::EZPlans::space

Definition at line 91 of file helper.h.

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