Base class for a meta-planner. More...

#include <aikido/planner/Planner.hpp>

Inheritance diagram for aikido::planner::Planner:

Classes
class	Result
	Base class for planning result of various planning problems. More...

Public Member Functions
	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...

virtual bool	canSolve (const Problem &problem) const =0
	Returns true if this planner can solve `problem`. More...

virtual trajectory::TrajectoryPtr	plan (const Problem &problem, Result *result=nullptr)=0
	Solves `problem` returning the result to `result`. More...

Protected Attributes
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this planner. More...

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

Detailed Description

Base class for a meta-planner.

Constructor & Destructor Documentation

◆ Planner()

aikido::planner::Planner::Planner	(	statespace::ConstStateSpacePtr	stateSpace,
		common::RNG *	rng = `nullptr`
	)

explicit

Constructs from a state space.

Parameters

[in]	stateSpace	State space that this planner associated with.
[in]	rng	RNG that planner uses. If nullptr, a default is created.

◆ ~Planner()

virtual aikido::planner::Planner::~Planner ( )

virtualdefault

Default destructor.

Member Function Documentation

◆ canSolve()

virtual bool aikido::planner::Planner::canSolve ( const Problem & problem ) const

pure virtual

Returns true if this planner can solve problem.

Implemented in aikido::planner::CompositePlanner, aikido::planner::SingleProblemPlanner< Derived, ProblemT >, aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >, aikido::planner::SingleProblemPlanner< ConfigurationToEndEffectorOffsetPlanner, ConfigurationToEndEffectorOffset >, aikido::planner::SingleProblemPlanner< ConfigurationToEndEffectorPosePlanner, ConfigurationToEndEffectorPose >, and aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationsPlanner, ConfigurationToConfigurations >.

◆ getRng()

common::RNG* aikido::planner::Planner::getRng ( )

Returns RNG.

◆ getStateSpace()

statespace::ConstStateSpacePtr aikido::planner::Planner::getStateSpace ( ) const

Returns const state space.

◆ plan()

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

pure virtual

Solves problem returning the result to result.

Parameters

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

Implemented in aikido::planner::SequenceMetaPlanner, aikido::planner::FirstSupportedMetaPlanner, aikido::planner::RankedMetaPlanner, aikido::planner::SingleProblemPlanner< Derived, ProblemT >, aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >, aikido::planner::SingleProblemPlanner< ConfigurationToEndEffectorOffsetPlanner, ConfigurationToEndEffectorOffset >, aikido::planner::SingleProblemPlanner< ConfigurationToEndEffectorPosePlanner, ConfigurationToEndEffectorPose >, and aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationsPlanner, ConfigurationToConfigurations >.

Member Data Documentation

◆ mRng

std::unique_ptr<common::RNG> aikido::planner::Planner::mRng

protected

RNG the planner uses.

◆ mStateSpace

statespace::ConstStateSpacePtr aikido::planner::Planner::mStateSpace