aikido::planner::ConfigurationToConfigurationsPlanner Class Reference

Base planner class for ConfigurationToConfigurations planning problem. More...

#include <aikido/planner/ConfigurationToConfigurationsPlanner.hpp>

Inheritance diagram for aikido::planner::ConfigurationToConfigurationsPlanner:

Public Member Functions
	ConfigurationToConfigurationsPlanner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)
	Constructs from a state space. More...
virtual trajectory::TrajectoryPtr	plan (const SolvableProblem &problem, Result *result=nullptr)=0
	Solves problem returning the result to result. More...
trajectory::TrajectoryPtr	plan (const Problem &problem, Result *result=nullptr) final override
Public Member Functions inherited from aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationsPlanner, ConfigurationToConfigurations >
	SingleProblemPlanner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)
bool	canSolve (const Problem &problem) const final override
	Returns true if this planner can solve problem. More...
trajectory::TrajectoryPtr	plan (const Problem &problem, Result *result=nullptr) final override
	Solves problem returning the result to result. 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
Public Types inherited from aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationsPlanner, ConfigurationToConfigurations >
using	SolvableProblem = ConfigurationToConfigurations
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

Base planner class for ConfigurationToConfigurations planning problem.

Constructor & Destructor Documentation

ConfigurationToConfigurationsPlanner()

aikido::planner::ConfigurationToConfigurationsPlanner::ConfigurationToConfigurationsPlanner ( 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.

Member Function Documentation

plan() [1/2]

trajectory::TrajectoryPtr aikido::planner::SingleProblemPlanner< Derived, ProblemT >::plan

finaloverride

plan() [2/2]

virtual trajectory::TrajectoryPtr aikido::planner::ConfigurationToConfigurationsPlanner::plan ( const SolvableProblem &  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.