aikido::planner::SingleProblemPlanner< Derived, ProblemT > Class Template Reference

SingleProblemPlanner is a base class for any concrete planner that are not a CompositePlanner. More...

#include <aikido/planner/SingleProblemPlanner.hpp>

Inheritance diagram for aikido::planner::SingleProblemPlanner< Derived, ProblemT >:

Public Types
using	SolvableProblem = ProblemT

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

template<typename Derived, typename ProblemT>
class aikido::planner::SingleProblemPlanner< Derived, ProblemT >

SingleProblemPlanner is a base class for any concrete planner that are not a CompositePlanner.

This is a curiously recurring template pattern implementation to avoid the same implementation of canSolve() and plan() across concrete planners. By inheriting this class the concrete planner doesn't need to implement those virtual functions.

Template Parameters

Derived	Concrete planner type.
ProblemT	Problem type the concrete planner is associated with.

Member Typedef Documentation

SolvableProblem

template<typename Derived , typename ProblemT >

using aikido::planner::SingleProblemPlanner< Derived, ProblemT >::SolvableProblem = ProblemT

Constructor & Destructor Documentation

SingleProblemPlanner()

template<typename Derived , typename ProblemT >

aikido::planner::SingleProblemPlanner< Derived, ProblemT >::SingleProblemPlanner ( 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

canSolve()

template<typename Derived , typename ProblemT >

bool aikido::planner::SingleProblemPlanner< Derived, ProblemT >::canSolve ( const Problem &  problem ) const

finaloverridevirtual

Returns true if this planner can solve problem.

Implements aikido::planner::Planner.

plan()

template<typename Derived , typename ProblemT >

trajectory::TrajectoryPtr aikido::planner::SingleProblemPlanner< Derived, ProblemT >::plan ( const Problem &  problem, Result *  result = nullptr  )

finaloverridevirtual

Solves problem returning the result to result.

Parameters

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

Implements aikido::planner::Planner.