476 lines
26 KiB
HTML
476 lines
26 KiB
HTML
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
|
|
<meta name="generator" content="Doxygen 1.8.11"/>
|
|
<title>OMPL Plannification: OMPL_Planner Class Reference</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="jquery.js"></script>
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
|
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="resize.js"></script>
|
|
<script type="text/javascript" src="navtreedata.js"></script>
|
|
<script type="text/javascript" src="navtree.js"></script>
|
|
<script type="text/javascript">
|
|
$(document).ready(initResizable);
|
|
$(window).load(resizeHeight);
|
|
</script>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
|
<script type="text/javascript" src="search/search.js"></script>
|
|
<script type="text/javascript">
|
|
$(document).ready(function() { init_search(); });
|
|
</script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr style="height: 56px;">
|
|
<td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
|
|
<td id="projectalign" style="padding-left: 0.5em;">
|
|
<div id="projectname">OMPL Plannification
|
|
</div>
|
|
<div id="projectbrief">Path planning with OMPL</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- Generated by Doxygen 1.8.11 -->
|
|
<script type="text/javascript">
|
|
var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|
</script>
|
|
<div id="navrow1" class="tabs">
|
|
<ul class="tablist">
|
|
<li><a href="index.html"><span>Main Page</span></a></li>
|
|
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
|
|
<li><a href="files.html"><span>Files</span></a></li>
|
|
<li>
|
|
<div id="MSearchBox" class="MSearchBoxInactive">
|
|
<span class="left">
|
|
<img id="MSearchSelect" src="search/mag_sel.png"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
alt=""/>
|
|
<input type="text" id="MSearchField" value="Search" accesskey="S"
|
|
onfocus="searchBox.OnSearchFieldFocus(true)"
|
|
onblur="searchBox.OnSearchFieldFocus(false)"
|
|
onkeyup="searchBox.OnSearchFieldChange(event)"/>
|
|
</span><span class="right">
|
|
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
|
|
</span>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</div>
|
|
<div id="navrow2" class="tabs2">
|
|
<ul class="tablist">
|
|
<li><a href="annotated.html"><span>Class List</span></a></li>
|
|
<li><a href="classes.html"><span>Class Index</span></a></li>
|
|
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
|
|
<li><a href="functions.html"><span>Class Members</span></a></li>
|
|
</ul>
|
|
</div>
|
|
</div><!-- top -->
|
|
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
|
<div id="nav-tree">
|
|
<div id="nav-tree-contents">
|
|
<div id="nav-sync" class="sync"></div>
|
|
</div>
|
|
</div>
|
|
<div id="splitbar" style="-moz-user-select:none;"
|
|
class="ui-resizable-handle">
|
|
</div>
|
|
</div>
|
|
<script type="text/javascript">
|
|
$(document).ready(function(){initNavTree('class_o_m_p_l___planner.html','');});
|
|
</script>
|
|
<div id="doc-content">
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<iframe src="javascript:void(0)" frameborder="0"
|
|
name="MSearchResults" id="MSearchResults">
|
|
</iframe>
|
|
</div>
|
|
|
|
<div class="header">
|
|
<div class="summary">
|
|
<a href="#pub-methods">Public Member Functions</a> |
|
|
<a href="class_o_m_p_l___planner-members.html">List of all members</a> </div>
|
|
<div class="headertitle">
|
|
<div class="title">OMPL_Planner Class Reference</div> </div>
|
|
</div><!--header-->
|
|
<div class="contents">
|
|
|
|
<p>Class for planner for 2D and 3D planning.
|
|
<a href="class_o_m_p_l___planner.html#details">More...</a></p>
|
|
|
|
<p><code>#include <<a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a>></code></p>
|
|
<table class="memberdecls">
|
|
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
|
|
Public Member Functions</h2></td></tr>
|
|
<tr class="memitem:a073db78d9b2b6a2163a469077acf6ff2"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner</a> (int dim)</td></tr>
|
|
<tr class="memdesc:a073db78d9b2b6a2163a469077acf6ff2"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a073db78d9b2b6a2163a469077acf6ff2">More...</a><br /></td></tr>
|
|
<tr class="separator:a073db78d9b2b6a2163a469077acf6ff2"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:abc9a0e581d563eb772dfb270ad67e2e5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">setPlanningBounds</a> (const std::vector< double > planning_bounds_x, const std::vector< double > planning_bounds_y, const std::vector< double > planning_bounds_z=std::vector< double >())</td></tr>
|
|
<tr class="memdesc:abc9a0e581d563eb772dfb270ad67e2e5"><td class="mdescLeft"> </td><td class="mdescRight">Set the bounds of the planner workspace. <a href="#abc9a0e581d563eb772dfb270ad67e2e5">More...</a><br /></td></tr>
|
|
<tr class="separator:abc9a0e581d563eb772dfb270ad67e2e5"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a525b72362e333214b7eda9e12420c2fc"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">setPlanningDepth</a> (double depth_limit=1)</td></tr>
|
|
<tr class="memdesc:a525b72362e333214b7eda9e12420c2fc"><td class="mdescLeft"> </td><td class="mdescRight">Set the planning depth. <a href="#a525b72362e333214b7eda9e12420c2fc">More...</a><br /></td></tr>
|
|
<tr class="separator:a525b72362e333214b7eda9e12420c2fc"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:aed4793b4bf19889efc4af7033f7ab6da"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">setPlanner</a> (const std::string plannerName="RRTstar")</td></tr>
|
|
<tr class="memdesc:aed4793b4bf19889efc4af7033f7ab6da"><td class="mdescLeft"> </td><td class="mdescRight">Set the planning algorithm used to solve the problem. <a href="#aed4793b4bf19889efc4af7033f7ab6da">More...</a><br /></td></tr>
|
|
<tr class="separator:aed4793b4bf19889efc4af7033f7ab6da"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ae49620c4f0c422025b97ad02c44cd66e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">setStateChecker</a> (const ob::StateValidityCheckerPtr state_checker)</td></tr>
|
|
<tr class="memdesc:ae49620c4f0c422025b97ad02c44cd66e"><td class="mdescLeft"> </td><td class="mdescRight">Set the state checker. <a href="#ae49620c4f0c422025b97ad02c44cd66e">More...</a><br /></td></tr>
|
|
<tr class="separator:ae49620c4f0c422025b97ad02c44cd66e"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a00df10d489ad2aa6d6b525934253677b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a00df10d489ad2aa6d6b525934253677b"></a>
|
|
void </td><td class="memItemRight" valign="bottom"><b>setStateChecker</b> (const std::string mapFile, double collision_mask_x, double collision_mask_y, double collision_mask_z=0.2)</td></tr>
|
|
<tr class="separator:a00df10d489ad2aa6d6b525934253677b"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a9d91a57a3d0f8f735e89c9d397b1df6b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9d91a57a3d0f8f735e89c9d397b1df6b"></a>
|
|
void </td><td class="memItemRight" valign="bottom"><b>setStateChecker</b> (octomap::OcTree *octree, double collision_mask_x, double collision_mask_y, double collision_mask_z)</td></tr>
|
|
<tr class="separator:a9d91a57a3d0f8f735e89c9d397b1df6b"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a9f5bb21207dfb002de93d5e83262de9b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">updateStateChecker</a> (octomap::OcTree *octree)</td></tr>
|
|
<tr class="memdesc:a9f5bb21207dfb002de93d5e83262de9b"><td class="mdescLeft"> </td><td class="mdescRight">Update the state checker. <a href="#a9f5bb21207dfb002de93d5e83262de9b">More...</a><br /></td></tr>
|
|
<tr class="separator:a9f5bb21207dfb002de93d5e83262de9b"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:aa83cc92dda2e0ee24ff9f79768ed1887"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">setStartGoal</a> (const std::vector< double > start_state, const std::vector< double > goal_state)</td></tr>
|
|
<tr class="memdesc:aa83cc92dda2e0ee24ff9f79768ed1887"><td class="mdescLeft"> </td><td class="mdescRight">Set the planning objectives. <a href="#aa83cc92dda2e0ee24ff9f79768ed1887">More...</a><br /></td></tr>
|
|
<tr class="separator:aa83cc92dda2e0ee24ff9f79768ed1887"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a15bf824bec358cd2c84274bc46f92c69"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">findPath</a> (double solving_time)</td></tr>
|
|
<tr class="memdesc:a15bf824bec358cd2c84274bc46f92c69"><td class="mdescLeft"> </td><td class="mdescRight">Solve the planning problem. <a href="#a15bf824bec358cd2c84274bc46f92c69">More...</a><br /></td></tr>
|
|
<tr class="separator:a15bf824bec358cd2c84274bc46f92c69"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a31423022af2477a1ac5f072bdb3f835f"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">isValid</a> (std::vector< double > position) const </td></tr>
|
|
<tr class="memdesc:a31423022af2477a1ac5f072bdb3f835f"><td class="mdescLeft"> </td><td class="mdescRight">Check if position is collision-free. <a href="#a31423022af2477a1ac5f072bdb3f835f">More...</a><br /></td></tr>
|
|
<tr class="separator:a31423022af2477a1ac5f072bdb3f835f"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a3e94f89db54c6b2c302b46ea2140d56b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3e94f89db54c6b2c302b46ea2140d56b"></a>
|
|
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">checkPath</a> () const </td></tr>
|
|
<tr class="memdesc:a3e94f89db54c6b2c302b46ea2140d56b"><td class="mdescLeft"> </td><td class="mdescRight">Check if the path is valid. <br /></td></tr>
|
|
<tr class="separator:a3e94f89db54c6b2c302b46ea2140d56b"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a056946d604333d039fd415b18af12241"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">updatePath</a> (octomap::OcTree *octree, double solving_time, const std::vector< double > start_state, const std::vector< double > goal_state)</td></tr>
|
|
<tr class="memdesc:a056946d604333d039fd415b18af12241"><td class="mdescLeft"> </td><td class="mdescRight">Update the path. <a href="#a056946d604333d039fd415b18af12241">More...</a><br /></td></tr>
|
|
<tr class="separator:a056946d604333d039fd415b18af12241"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:acff06e417ae511b0a50828b2ea1f184b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acff06e417ae511b0a50828b2ea1f184b"></a>
|
|
og::PathGeometric </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">getPath</a> () const </td></tr>
|
|
<tr class="memdesc:acff06e417ae511b0a50828b2ea1f184b"><td class="mdescLeft"> </td><td class="mdescRight">Return the path found by the planner. <br /></td></tr>
|
|
<tr class="separator:acff06e417ae511b0a50828b2ea1f184b"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a643d16f415b3658033f724b5a0fa28c5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a643d16f415b3658033f724b5a0fa28c5"></a>
|
|
og::SimpleSetup </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">getSimpleSetup</a> () const </td></tr>
|
|
<tr class="memdesc:a643d16f415b3658033f724b5a0fa28c5"><td class="mdescLeft"> </td><td class="mdescRight">Return the OMPL object containing most of the information of the planning problem. <br /></td></tr>
|
|
<tr class="separator:a643d16f415b3658033f724b5a0fa28c5"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:aa7c140fd681ba96e46b529424571250a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">~OMPL_Planner</a> ()</td></tr>
|
|
<tr class="memdesc:aa7c140fd681ba96e46b529424571250a"><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#aa7c140fd681ba96e46b529424571250a">More...</a><br /></td></tr>
|
|
<tr class="separator:aa7c140fd681ba96e46b529424571250a"><td class="memSeparator" colspan="2"> </td></tr>
|
|
</table>
|
|
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
|
<div class="textblock"><p>Class for planner for 2D and 3D planning. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8hpp_source.html#l00035">35</a> of file <a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a>.</p>
|
|
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
|
|
<a class="anchor" id="a073db78d9b2b6a2163a469077acf6ff2"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">OMPL_Planner::OMPL_Planner </td>
|
|
<td>(</td>
|
|
<td class="paramtype">int </td>
|
|
<td class="paramname"><em>dim</em></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Constructor. </p>
|
|
<p>Create space and simple_setup instance for OMPL planning. Set planning dimension. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00011">11</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a class="anchor" id="aa7c140fd681ba96e46b529424571250a"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">OMPL_Planner::~OMPL_Planner </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Destructor. </p>
|
|
<p>Free dynamicly allowed data. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00020">20</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<h2 class="groupheader">Member Function Documentation</h2>
|
|
<a class="anchor" id="a15bf824bec358cd2c84274bc46f92c69"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">bool OMPL_Planner::findPath </td>
|
|
<td>(</td>
|
|
<td class="paramtype">double </td>
|
|
<td class="paramname"><em>solving_time</em></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Solve the planning problem. </p>
|
|
<p>Find a path from the start state to the goal state in the map given to the state checker. The planner will run during solving_time and optimize the solution during this time. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00139">139</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a class="anchor" id="a31423022af2477a1ac5f072bdb3f835f"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">bool OMPL_Planner::isValid </td>
|
|
<td>(</td>
|
|
<td class="paramtype">std::vector< double > </td>
|
|
<td class="paramname"><em>position</em></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Check if position is collision-free. </p>
|
|
<p>Checking is done on the last map given to the state checker. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00158">158</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a class="anchor" id="aed4793b4bf19889efc4af7033f7ab6da"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">void OMPL_Planner::setPlanner </td>
|
|
<td>(</td>
|
|
<td class="paramtype">const std::string </td>
|
|
<td class="paramname"><em>plannerName</em> = <code>"RRTstar"</code></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Set the planning algorithm used to solve the problem. </p>
|
|
<p>Planner avalaible : RRTstar, CForest. If no argument provided, RRTstar will be used (reliable planner for most of the situations). Implementation of other planners (except control-based planners) is quite simple. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00056">56</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a class="anchor" id="abc9a0e581d563eb772dfb270ad67e2e5"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">void OMPL_Planner::setPlanningBounds </td>
|
|
<td>(</td>
|
|
<td class="paramtype">const std::vector< double > </td>
|
|
<td class="paramname"><em>planning_bounds_x</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const std::vector< double > </td>
|
|
<td class="paramname"><em>planning_bounds_y</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const std::vector< double > </td>
|
|
<td class="paramname"><em>planning_bounds_z</em> = <code>std::vector<double>()</code> </td>
|
|
</tr>
|
|
<tr>
|
|
<td></td>
|
|
<td>)</td>
|
|
<td></td><td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Set the bounds of the planner workspace. </p>
|
|
<p>Workspace defined by a box with planning_bounds limits. Optional argument : Planning_bounds_z (used only for 3D planning). </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00031">31</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a class="anchor" id="a525b72362e333214b7eda9e12420c2fc"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">void OMPL_Planner::setPlanningDepth </td>
|
|
<td>(</td>
|
|
<td class="paramtype">double </td>
|
|
<td class="paramname"><em>depth_limit</em> = <code>1</code></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Set the planning depth. </p>
|
|
<p>Set the lowest altitude for states. Represent the planning depth (constant) for 2D planning. Used to prevent unwanted invalid state (Issue with the ground in Octomap). </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00049">49</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a class="anchor" id="aa83cc92dda2e0ee24ff9f79768ed1887"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">void OMPL_Planner::setStartGoal </td>
|
|
<td>(</td>
|
|
<td class="paramtype">const std::vector< double > </td>
|
|
<td class="paramname"><em>start_state</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const std::vector< double > </td>
|
|
<td class="paramname"><em>goal_state</em> </td>
|
|
</tr>
|
|
<tr>
|
|
<td></td>
|
|
<td>)</td>
|
|
<td></td><td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Set the planning objectives. </p>
|
|
<p>If the state has an altitude lower than the planning depth, it's altitude will be set to the planning depth. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00116">116</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a class="anchor" id="ae49620c4f0c422025b97ad02c44cd66e"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">void OMPL_Planner::setStateChecker </td>
|
|
<td>(</td>
|
|
<td class="paramtype">const ob::StateValidityCheckerPtr </td>
|
|
<td class="paramname"><em>state_checker</em></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Set the state checker. </p>
|
|
<p>Check if a given position is collision-free. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00071">71</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a class="anchor" id="a056946d604333d039fd415b18af12241"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">bool OMPL_Planner::updatePath </td>
|
|
<td>(</td>
|
|
<td class="paramtype">octomap::OcTree * </td>
|
|
<td class="paramname"><em>octree</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">double </td>
|
|
<td class="paramname"><em>solving_time</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const std::vector< double > </td>
|
|
<td class="paramname"><em>start_state</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const std::vector< double > </td>
|
|
<td class="paramname"><em>goal_state</em> </td>
|
|
</tr>
|
|
<tr>
|
|
<td></td>
|
|
<td>)</td>
|
|
<td></td><td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Update the path. </p>
|
|
<p>Search a new path from start_state to goal state if there's a collision with the path and an obstacle from the new map. Update the state checker. Return True if a new path is found or if the path is collision-free. Return False, if the planner found an obstacle but failed to found a new path. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00194">194</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a class="anchor" id="a9f5bb21207dfb002de93d5e83262de9b"></a>
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">void OMPL_Planner::updateStateChecker </td>
|
|
<td>(</td>
|
|
<td class="paramtype">octomap::OcTree * </td>
|
|
<td class="paramname"><em>octree</em></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Update the state checker. </p>
|
|
<p>The new map will be used for state checking. If the state checker wasn't set before, there's no update and no warning message will be displayed. </p>
|
|
|
|
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00109">109</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<hr/>The documentation for this class was generated from the following files:<ul>
|
|
<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a></li>
|
|
<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a></li>
|
|
</ul>
|
|
</div><!-- contents -->
|
|
</div><!-- doc-content -->
|
|
<!-- start footer part -->
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
|
<ul>
|
|
<li class="navelem"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></li>
|
|
<li class="footer">Generated by
|
|
<a href="http://www.doxygen.org/index.html">
|
|
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
|
|
</ul>
|
|
</div>
|
|
</body>
|
|
</html>
|