A meta planner that solves a problem using the sub planners one-by-one sequentially and returns the first successfully planned trajectory. More...

Inheritance diagram for aikido::planner::SequenceMetaPlanner:

Public Member Functions
trajectory::TrajectoryPtr	plan (const Problem &problem, Result *result=nullptr) override
	Solves `problem` returning the result to `result`. More...

	CompositePlanner (statespace::ConstStateSpacePtr stateSpace, const std::vector< PlannerPtr > &planners=std::vector< PlannerPtr >())
	Constructs given list of planners. More...

Public Member Functions inherited from aikido::planner::CompositePlanner
	CompositePlanner (statespace::ConstStateSpacePtr stateSpace, const std::vector< PlannerPtr > &planners=std::vector< PlannerPtr >())
	Constructs given list of planners. More...

bool	hasPlanner (const Planner &planner) const
	Returns true if this CompositePlanner contains `planner`. More...

bool	canSolve (const Problem &problem) const override
	Returns true if this planner can solve `problem`. More...

Public Member Functions inherited from aikido::planner::Planner
	Planner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)
	Constructs from a state space. More...

virtual	~Planner ()=default
	Default destructor. More...

statespace::ConstStateSpacePtr	getStateSpace () const
	Returns const state space. More...

common::RNG *	getRng ()
	Returns RNG. More...

Additional Inherited Members
Protected Attributes inherited from aikido::planner::CompositePlanner
const std::vector< PlannerPtr >	mPlanners
	Planners. More...

Protected Attributes inherited from aikido::planner::Planner
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this planner. More...

std::unique_ptr< common::RNG >	mRng
	RNG the planner uses. More...

Detailed Description

A meta planner that solves a problem using the sub planners one-by-one sequentially and returns the first successfully planned trajectory.

Member Function Documentation

aikido::planner::CompositePlanner::CompositePlanner

Constructs given list of planners.

Parameters

[in]	stateSpace	State space that this planner associated with.
[in]	planners	Planners that this CompositePlanner will contain.

Exceptions

If	any of `planners` are null.

trajectory::TrajectoryPtr aikido::planner::SequenceMetaPlanner::plan	(	const Problem &	problem,
		Result *	result = `nullptr`
	)

overridevirtual

Solves problem returning the result to result.

Parameters

[in]	problem	Planning problem to be solved by the planner.
[out]	result	Result of planning procedure.