RobWorkProject  24.5.15-
Public Types | Static Public Member Functions | List of all members
PlannerUtil Class Reference

PlannerUtil provides various utilities useful in path planning. More...

#include <PlannerUtil.hpp>

Public Types

enum  EstimateType { WORSTCASE = 0 , AVERAGE }
 Description of the different estimation type possible in the estimateMotionWeights(EsitmateType, size_t) method. More...
 

Static Public Member Functions

static bool inCollision (const PlannerConstraint &constraint, const std::vector< rw::math::Q > &path)
 Collision checking for a path of configurations. More...
 
static bool inCollision (const PlannerConstraint &constraint, const rw::math::Q &start, const rw::math::Q &end, bool checkStart=true, bool checkEnd=true)
 Collision checking for a segment. More...
 
static bool inCollision (const PlannerConstraint &constraint, const rw::math::Q &q)
 Collision checking for a configuration. More...
 
static rw::math::QMetric::Ptr normalizingInfinityMetric (const rw::models::Device::QBox &bounds, double length=1)
 Weighted infinity metric that maps the maps the longest vector in the configuration space to a given length. More...
 
static rw::math::QMetric::Ptr timeMetric (const rw::models::Device &device)
 Metric for the distance in time between a pair of configurations. More...
 
static rw::math::QMetric::Ptr timeMetric (const rw::math::Q &speed)
 Metric for the distance in time between a pair of configurations. More...
 
static rw::math::Q estimateMotionWeights (const rw::models::Device &device, rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &initialState, EstimateType type, size_t samples)
 Estimate the distance traveled by the frame, when moving the joints. More...
 
static rw::math::Q clampPosition (const rw::models::Device &device, const rw::math::Q &q)
 Clamps values to be within bounds. More...
 
static rw::math::Q clampPosition (const rw::models::Device::QBox &bounds, const rw::math::Q &q)
 Clamps values to be within bounds. More...
 

Detailed Description

PlannerUtil provides various utilities useful in path planning.


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