armarx::PathPlannerBase

Overview

[ "cpp:virtual" ] class PathPlannerBase

@brief Superclass for all path planners. Does administration work. (setting of agent and collision object)

Derived Classes and Interfaces

AStarPathPlannerBase

Operation Index

setCollisionObjects: @brief Sets the collision objects.
addCollisionObjects: @brief Adds collision objects.
clearCollisionObjects: @brief Removes all collision objects.
setAgent: @brief Sets the agent.
setSafetyMargin: @brief Sets the safety margin.
getPath: @brief Planns a path from from to to.

Operations

void setCollisionObjects(ObjectPositionBaseList objects) throws InvalidArgumentException

@brief Sets the collision objects.

Parameters

objects: The collision objects to set.

void addCollisionObjects(ObjectPositionBaseList objects) throws InvalidArgumentException

@brief Adds collision objects.

Parameters

objects: The collision objects to add.

void clearCollisionObjects()

@brief Removes all collision objects.

void setAgent(::memoryx::AgentInstanceBase agent, string agentColModelName) throws InvalidArgumentException

@brief Sets the agent.

Parameters

agent: The agent.
agentColModelName: The agent's collision model.

void setSafetyMargin(float minDistance) throws InvalidArgumentException

@brief Sets the safety margin. (the distance agent <-> any object will always be >= or no path will be found)

Parameters

Vector3BaseList getPath(Vector3Base from, Vector3Base to)

@brief Planns a path from from to to. The z coordinate is interpreted as rotation around the z-axis (in rad).

Parameters

from: The starting point.
to: The destination point.

Return Value

Returns the path. If no path was found an empty list is returned.