aikido::planner::dart::ConfigurationToTSRPlanner Class Reference

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

#include <aikido/planner/dart/ConfigurationToTSRPlanner.hpp>

Inheritance diagram for aikido::planner::dart::ConfigurationToTSRPlanner:

Public Member Functions
	ConfigurationToTSRPlanner (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton, distance::ConstConfigurationRankerPtr configurationRanker=nullptr)
	Constructor. More...
virtual trajectory::TrajectoryPtr	plan (const SolvableProblem &problem, Result *result=nullptr)=0
	Solves problem returning the result to result. More...

Protected Attributes
distance::ConstConfigurationRankerPtr	mConfigurationRanker

Detailed Description

Base planner class for ConfigurationToTSR planning problem.

Constructor & Destructor Documentation

ConfigurationToTSRPlanner()

aikido::planner::dart::ConfigurationToTSRPlanner::ConfigurationToTSRPlanner	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::MetaSkeletonPtr	metaSkeleton,
		distance::ConstConfigurationRankerPtr	configurationRanker = nullptr
	)

Constructor.

Parameters

[in]	stateSpace	State space that this planner associated with.
[in]	metaSkeleton	MetaSkeleton to use for planning.
[in]	configurationRanker	Ranker to rank configurations.

Member Function Documentation

plan()

virtual trajectory::TrajectoryPtr aikido::planner::dart::ConfigurationToTSRPlanner::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.

Member Data Documentation

mConfigurationRanker

distance::ConstConfigurationRankerPtr aikido::planner::dart::ConfigurationToTSRPlanner::mConfigurationRanker

protected