#include <armarx/navigation/algorithms/astar/Planner2D.h>
Classes | |
| struct | point2D |
Public Member Functions | |
| virtual std::vector< point2D > | getGridVisu (float xdist, float ydist, Eigen::Vector2f goal) |
| float | getParameter (const std::string &s) |
| get the corresponding float parameter (0 is returned when parameter string is not present) More... | |
| bool | hasParameter (const std::string &s) |
| check if a parameter is set More... | |
| virtual std::vector< Eigen::Vector2f > | plan (const Eigen::Vector2f &start, const Eigen::Vector2f &goal)=0 |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | Planner2D (VirtualRobot::RobotPtr robot, VirtualRobot::SceneObjectSetPtr obstacles=VirtualRobot::SceneObjectSetPtr()) |
| Initialize Planner with robot and obstacles. More... | |
| Eigen::Matrix4f | positionToMatrix4f (Eigen::Vector2f pos) |
| void | setObstacles (VirtualRobot::SceneObjectSetPtr obstacles) |
| Update obstacles. More... | |
| void | setParameter (const std::string &s, float p) |
| set a float parameter that is identified with a string More... | |
| void | setRobot (VirtualRobot::RobotPtr robot) |
| update robot More... | |
| void | setRobotColModel (const std::string &robotColModelName) |
| set name of RobotNode which should be used for collision detection More... | |
| virtual | ~Planner2D ()=default |
Protected Attributes | |
| VirtualRobot::SceneObjectSetPtr | obstacles |
| std::map< std::string, float > | parameters |
| VirtualRobot::RobotPtr | robot |
| VirtualRobot::CollisionModelPtr | robotCollisionModel |
| std::string | robotColModelName |
| Eigen::Vector2f | sceneBoundsMax |
| Eigen::Vector2f | sceneBoundsMin |
Detailed Description
Definition at line 14 of file Planner2D.h.
Constructor & Destructor Documentation
◆ Planner2D()
| Planner2D | ( | VirtualRobot::RobotPtr | robot, |
| VirtualRobot::SceneObjectSetPtr | obstacles = VirtualRobot::SceneObjectSetPtr() |
||
| ) |
Initialize Planner with robot and obstacles.
- Parameters
-
robot The robot obstacles The obstacles which should be considered by the planner
Definition at line 12 of file Planner2D.cpp.
Here is the call graph for this function:◆ ~Planner2D()
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virtualdefault |
Member Function Documentation
◆ getGridVisu()
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inlinevirtual |
Definition at line 61 of file Planner2D.h.
◆ getParameter()
| float getParameter | ( | const std::string & | s | ) |
get the corresponding float parameter (0 is returned when parameter string is not present)
Definition at line 71 of file Planner2D.cpp.
Here is the call graph for this function:◆ hasParameter()
| bool hasParameter | ( | const std::string & | s | ) |
check if a parameter is set
Definition at line 65 of file Planner2D.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ plan()
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pure virtual |
◆ positionToMatrix4f()
| Eigen::Matrix4f positionToMatrix4f | ( | Eigen::Vector2f | pos | ) |
◆ setObstacles()
| void setObstacles | ( | VirtualRobot::SceneObjectSetPtr | obstacles | ) |
Update obstacles.
Definition at line 21 of file Planner2D.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ setParameter()
| void setParameter | ( | const std::string & | s, |
| float | p | ||
| ) |
set a float parameter that is identified with a string
Definition at line 59 of file Planner2D.cpp.
Here is the call graph for this function:◆ setRobot()
| void setRobot | ( | VirtualRobot::RobotPtr | robot | ) |
update robot
Definition at line 38 of file Planner2D.cpp.
Here is the caller graph for this function:◆ setRobotColModel()
| void setRobotColModel | ( | const std::string & | robotColModelName | ) |
set name of RobotNode which should be used for collision detection
Definition at line 44 of file Planner2D.cpp.
Member Data Documentation
◆ obstacles
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protected |
Definition at line 71 of file Planner2D.h.
◆ parameters
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protected |
Definition at line 75 of file Planner2D.h.
◆ robot
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protected |
Definition at line 70 of file Planner2D.h.
◆ robotCollisionModel
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protected |
Definition at line 69 of file Planner2D.h.
◆ robotColModelName
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protected |
Definition at line 67 of file Planner2D.h.
◆ sceneBoundsMax
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protected |
Definition at line 73 of file Planner2D.h.
◆ sceneBoundsMin
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protected |
Definition at line 72 of file Planner2D.h.
The documentation for this class was generated from the following files:
- armarx/navigation/algorithms/astar/Planner2D.h
- armarx/navigation/algorithms/astar/Planner2D.cpp
