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PathGeometric.h
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Abstract definition of optimization objectives.
Definition OptimizationObjective.h:75
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition PathGeometric.h:260
double smoothness() const
Compute a notion of smoothness for this path. The closer the value is to 0, the smoother the path....
Definition PathGeometric.cpp:132
bool randomValid(unsigned int attempts)
Set this path to a random valid segment. Sample attempts times for valid segments....
Definition PathGeometric.cpp:415
const base::State * getState(unsigned int index) const
Get the state located at index along the path.
Definition PathGeometric.h:254
double clearance() const
Compute the clearance of the way-points along the path (no interpolation is performed)....
Definition PathGeometric.cpp:120
void print(std::ostream &out) const override
Print the path to a stream.
Definition PathGeometric.cpp:191
std::pair< bool, bool > checkAndRepair(unsigned int attempts)
Check if the path is valid. If it is not, attempts are made to fix the path by sampling around invali...
Definition PathGeometric.cpp:211
void keepAfter(const base::State *state)
Keep the part of the path that is after state (getClosestIndex() is used to find out which way-point ...
Definition PathGeometric.cpp:484
virtual void printAsMatrix(std::ostream &out) const
Print the path as a real-valued matrix where the i-th row represents the i-th state along the path....
Definition PathGeometric.cpp:198
void freeMemory()
Free the memory corresponding to the states on this path.
Definition PathGeometric.cpp:94
PathGeometric & operator=(const PathGeometric &other)
Assignment operator.
Definition PathGeometric.cpp:76
void prepend(const base::State *state)
Prepend state to the start of this path. The memory for state is copied.
Definition PathGeometric.cpp:479
void keepBefore(const base::State *state)
Keep the part of the path that is before state (getClosestIndex() is used to find out which way-point...
Definition PathGeometric.cpp:502
void copyFrom(const PathGeometric &other)
Copy data to this path from another path instance.
Definition PathGeometric.cpp:87
void interpolate()
Insert a number of states in a path so that the path is made up of (approximately) the states checked...
Definition PathGeometric.cpp:316
double length() const override
Compute the length of a geometric path (sum of lengths of segments that make up the path)
Definition PathGeometric.cpp:112
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition PathGeometric.h:248
void append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
Definition PathGeometric.cpp:462
base::Cost cost(const base::OptimizationObjectivePtr &obj) const override
The sum of the costs for the sequence of segments that make up the path, computed using OptimizationO...
Definition PathGeometric.cpp:100
PathGeometric(const base::SpaceInformationPtr &si)
Construct a path instance for a given space information.
Definition PathGeometric.h:69
std::vector< base::State * > states_
The list of states that make up the path.
Definition PathGeometric.h:278
int getClosestIndex(const base::State *state) const
Get the index of the way-point along the path that is closest to state. Returns -1 for an empty path.
Definition PathGeometric.cpp:523
std::vector< base::State * > & getStates()
Get the states that make up the path (as a reference, so it can be modified, hence the function is no...
Definition PathGeometric.h:242
void overlay(const PathGeometric &over, unsigned int startIndex=0)
Overlay the path over on top of the current path. States are added to the current path if needed (by ...
Definition PathGeometric.cpp:441
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace contains code that is specific to planning under geometric constraints.
Definition GeneticSearch.h:48
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66