QToTPlanner Class Reference

Approach planner interface. More...

#include <QToTPlanner.hpp>

Inherits PathPlanner< rw::math::Q, const rw::math::Transform3D< double > >.

Public Types
typedef rw::core::Ptr< QToTPlanner >	Ptr
	smart pointer type to this class
Public Types inherited from PathPlanner< rw::math::Q, const rw::math::Transform3D< double > >
typedef rw::core::Ptr< PathPlanner >	Ptr
	smart pointer type to this class

Static Public Member Functions
static QToTPlanner::Ptr	make (rw::core::Ptr< QToQSamplerPlanner > planner, rw::core::Ptr< QIKSampler > ikSampler)
	An approach planner for a sampler of IK solutions and a region planner. More...
static QToTPlanner::Ptr	makeToNearest (rw::core::Ptr< QToQPlanner > planner, rw::core::Ptr< QIKSampler > sampler, rw::math::QMetric::Ptr metric, int cnt)
	An approach planner for a standard path planner and a sampler of IK solutions. More...

Additional Inherited Members
Public Member Functions inherited from PathPlanner< rw::math::Q, const rw::math::Transform3D< double > >
virtual	~PathPlanner ()
	Destructor.
bool	query (const rw::math::Q &from, const rw::math::Transform3D< double > &to, rw::trajectory::Path< rw::math::Q > &path, const StopCriteria &stop)
	Plan a path from the configuration from to the destination to. More...
bool	query (const rw::math::Q &from, const rw::math::Transform3D< double > &to, rw::trajectory::Path< rw::math::Q > &path, double time)
	Plan a path from the configuration from to the destination to. More...
bool	query (const rw::math::Q &from, const rw::math::Transform3D< double > &to, rw::trajectory::Path< rw::math::Q > &path)
	Plan a path from the configuration from to the destination to. More...
core::PropertyMap &	getProperties ()
	Property map for the planner.
const core::PropertyMap &	getProperties () const
	Property map for the planner.
Protected Member Functions inherited from PathPlanner< rw::math::Q, const rw::math::Transform3D< double > >
	PathPlanner ()
	Default constructor provided for subclasses.
virtual bool	doQuery (const rw::math::Q &from, const rw::math::Transform3D< double > &to, rw::trajectory::Path< rw::math::Q > &path, const StopCriteria &stop)=0
	Subclass implementation of the query() method.

Detailed Description

Approach planner interface.

An approach planner plans a path from a configuration for the device to a configuration for the tool.

Member Function Documentation

make()

static QToTPlanner::Ptr make ( rw::core::Ptr< QToQSamplerPlanner >  planner, rw::core::Ptr< QIKSampler >  ikSampler  )

static

An approach planner for a sampler of IK solutions and a region planner.

Target configurations are sampled by ikSampler and fed to planner.

Parameters

planner	[in] Planner for a QSampler region.
ikSampler	[in] Sampler of IK solutions for the target transform.

makeToNearest()

static QToTPlanner::Ptr makeToNearest ( rw::core::Ptr< QToQPlanner >  planner, rw::core::Ptr< QIKSampler >  sampler, rw::math::QMetric::Ptr  metric, int  cnt  )

static

An approach planner for a standard path planner and a sampler of IK solutions.

For each query(from, to) call, the planner extracts cnt samples from sampler and calls planner with the configuration closest to from according to metric.

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

• QToTPlanner.hpp