aikido::planner::CompositePlanner Class Reference
CompositePlanner is a base class for concrete planner classes that contain multiple planners. More...
#include <aikido/planner/CompositePlanner.hpp>
Inheritance diagram for aikido::planner::CompositePlanner:
Public Member Functions | |
| CompositePlanner (statespace::ConstStateSpacePtr stateSpace, const std::vector< PlannerPtr > &planners=std::vector< PlannerPtr >()) | |
| Constructs given list of planners. More... | |
| bool | hasPlanner (const Planner &planner) const |
Returns true if this CompositePlanner contains planner. More... | |
| bool | canSolve (const Problem &problem) const override |
Returns true if this planner can solve problem. 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... | |
| virtual trajectory::TrajectoryPtr | plan (const Problem &problem, Result *result=nullptr)=0 |
Solves problem returning the result to result. More... | |
Protected Attributes | |
| const std::vector< PlannerPtr > | mPlanners |
| Planners. 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... | |
Detailed Description
CompositePlanner is a base class for concrete planner classes that contain multiple planners.
Constructor & Destructor Documentation
◆ CompositePlanner()
| aikido::planner::CompositePlanner::CompositePlanner | ( | statespace::ConstStateSpacePtr | stateSpace, |
| const std::vector< PlannerPtr > & | planners = std::vector< PlannerPtr >() |
||
| ) |
Constructs given list of planners.
- Parameters
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[in] stateSpace State space that this planner associated with. [in] planners Planners that this CompositePlanner will contain.
- Exceptions
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If any of plannersare null.
Member Function Documentation
◆ canSolve()
|
overridevirtual |
Returns true if this planner can solve problem.
Implements aikido::planner::Planner.
◆ hasPlanner()
| bool aikido::planner::CompositePlanner::hasPlanner | ( | const Planner & | planner | ) | const |
Returns true if this CompositePlanner contains planner.
Member Data Documentation
◆ mPlanners
|
protected |
Planners.
