Planner that plans the straight-line trajectory to the goal. More...

#include <aikido/planner/SnapConfigurationToConfigurationPlanner.hpp>

Inheritance diagram for aikido::planner::SnapConfigurationToConfigurationPlanner:

Public Member Functions
	SnapConfigurationToConfigurationPlanner (statespace::ConstStateSpacePtr stateSpace, statespace::ConstInterpolatorPtr interpolator=nullptr)
	Constructor. More...

trajectory::TrajectoryPtr	plan (const SolvableProblem &problem, Result *result=nullptr) override
	Plans a trajectory from start state to goal state by using an interpolator to interpolate between them. More...

void	setInterpolator (statespace::ConstInterpolatorPtr interpolator)
	Sets interpolator used to produce the output trajectory. More...

statespace::ConstInterpolatorPtr	getInterpolator () const
	Returns the interpolator used to produce the output trajectory. More...

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

trajectory::TrajectoryPtr	plan (const Problem &problem, Result *result=nullptr) final override

Public Member Functions inherited from aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >
	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...

Protected Attributes
statespace::ConstInterpolatorPtr	mInterpolator
	Interpolator used to produce the output trajectory. 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...

Additional Inherited Members
Public Types inherited from aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >
using	SolvableProblem = ConfigurationToConfiguration

Detailed Description

Planner that plans the straight-line trajectory to the goal.

SnapPlanner is a utility planner class that collision checks the straight-line trajectory to the goal. If that trajectory is invalid, e.g., due to an environment or self collision, the planner immediately returns nullptr.

SnapPlanner is intended to be used only as a "short circuit" to speed-up planning between nearby configurations. This planner is most commonly used as the first item in a Sequence meta-planner to avoid calling a motion planner when the trivial solution is valid.

Constructor & Destructor Documentation

◆ SnapConfigurationToConfigurationPlanner()

aikido::planner::SnapConfigurationToConfigurationPlanner::SnapConfigurationToConfigurationPlanner	(	statespace::ConstStateSpacePtr	stateSpace,
		statespace::ConstInterpolatorPtr	interpolator = `nullptr`
	)

explicit

Constructor.

Parameters

[in]	stateSpace	State space that this planner associated with.
[in]	interpolator	Interpolator used to produce the output trajectory. If nullptr is passed in, GeodesicInterpolator is used by default.

Member Function Documentation

◆ getInterpolator()

statespace::ConstInterpolatorPtr aikido::planner::SnapConfigurationToConfigurationPlanner::getInterpolator ( ) const

Returns the interpolator used to produce the output trajectory.

◆ plan()

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

overridevirtual

Plans a trajectory from start state to goal state by using an interpolator to interpolate between them.

The planner returns success if the resulting trajectory satisfies constraint at some resolution and failure (returning nullptr) otherwise. The reason for the failure is stored in the result output parameter.

Parameters

[in]	problem	Planning problem.
[out]	result	Information about success or failure.

Returns: Trajectory or nullptr if planning failed.

Exceptions

If	`problem` is not ConfigurationToConfiguration.
If	`result` is not ConfigurationToConfiguration::Result.

Implements aikido::planner::ConfigurationToConfigurationPlanner.

◆ setInterpolator()

void aikido::planner::SnapConfigurationToConfigurationPlanner::setInterpolator ( statespace::ConstInterpolatorPtr interpolator )

Sets interpolator used to produce the output trajectory.

Member Data Documentation

◆ mInterpolator

statespace::ConstInterpolatorPtr aikido::planner::SnapConfigurationToConfigurationPlanner::mInterpolator

protected

Interpolator used to produce the output trajectory.

Public Member Functions

Protected Attributes

Additional Inherited Members