Planner-impl.hpp File Reference

#include <ompl/geometric/PathGeometric.h>
#include "aikido/planner/ompl/BackwardCompatibility.hpp"
#include "aikido/planner/ompl/GeometricStateSpace.hpp"
#include "aikido/planner/ompl/GoalRegion.hpp"
#include "aikido/planner/ompl/StateValidityChecker.hpp"
#include "aikido/trajectory/Interpolated.hpp"

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Namespaces
	aikido
	Format of serialized trajectory in YAML.
	aikido::planner
	aikido::planner::ompl

Functions
template<class PlannerType >
trajectory::InterpolatedPtr	aikido::planner::ompl::planOMPL (const statespace::StateSpace::State *_start, const statespace::StateSpace::State *_goal, statespace::ConstStateSpacePtr _stateSpace, statespace::InterpolatorPtr _interpolator, distance::DistanceMetricPtr _dmetric, constraint::SampleablePtr _sampler, constraint::TestablePtr _validityConstraint, constraint::TestablePtr _boundsConstraint, constraint::ProjectablePtr _boundsProjector, double _maxPlanTime, double _maxDistanceBtwValidityChecks)
	Use the template OMPL Planner type to plan a trajectory that moves from the start to the goal point. More...
template<class PlannerType >
trajectory::InterpolatedPtr	aikido::planner::ompl::planOMPL (const statespace::StateSpace::State *_start, constraint::TestablePtr _goalTestable, constraint::SampleablePtr _goalSampler, statespace::ConstStateSpacePtr _stateSpace, statespace::InterpolatorPtr _interpolator, distance::DistanceMetricPtr _dmetric, constraint::SampleablePtr _sampler, constraint::TestablePtr _validityConstraint, constraint::TestablePtr _boundsConstraint, constraint::ProjectablePtr _boundsProjector, double _maxPlanTime, double _maxDistanceBtwValidityChecks)
	Use the template OMPL Planner type to plan a trajectory that moves from the start to a goal region. More...