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Planner Class Reference

The base class for all path planners. More...

#include <planner.h>

Inheritance diagram for Planner::

List of all members.

Public Methods
	Planner (Problem *problem)
	A constructor that initializes data members.
	~Planner ()
void	Reset ()
	Reset the planner.
virtual void	Construct ()=0
	Generate a planning graph.
virtual bool	Plan ()=0
	Attempt to solve an Initial-Goal query.
virtual void	WriteGraphs (ofstream &fout)=0
	Write roadmap or trees to a file.
virtual void	ReadGraphs (ifstream &fin)=0
	Read roadmap or trees from a file.
bool	GapSatisfied (const MSLVector &x1, const MSLVector &x2)
	Determine if the gap error is staisfied.
Public Attributes
double	CumulativePlanningTime
	Total amount of time spent on planning.
double	CumulativeConstructTime
	Total amount of time spent on construction.
list<MSLVector>	Path
	The solution path, as a list of states.
list<MSLVector>	Policy
	The solution policy, as a list of inputs.
MSLVector	GapState
	The last state in a path before a jump occurs.
bool	Holonomic
	Set to true to ignore inputs and avoid integration (default false). This will make "regular" path planning much faster.
MSLVector	GapError
	How much gap error is allowed for each element in bidirectional search.
MSLTree*	T
	A search tree (used by incremental planners, but included in Planner base to allow GuiPlanner to handle all planners).
MSLTree*	T2
	A second tree (if needed).
MSLGraph*	Roadmap
	A graph to represent a roadmap (used by roadmap planners, but included in Planner base to allow GuiPlanner to handle all planners).
list<double>	TimeList
	The times associated with a solution path.
list<MSLVector>	StateList
	The states associated with a solution path.
list<MSLVector>	InputList
	The inputs associated with a solution path.
int	NumNodes
	Number of nodes to generate in a single execution of Plan or Construct.
double	PlannerDeltaT
	Time step to use for incremental planners.
Protected Methods
MSLVector	RandomState ()
	Choose a state at random.
MSLVector	NormalState (MSLVector mean, double sd)
	Pick a state using a Normal distribution.
Protected Attributes
MSLRandomSource	R

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Detailed Description

The base class for all path planners.

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Constructor & Destructor Documentation

Planner::Planner ( Problem * problem )

A constructor that initializes data members.

Planner::~Planner ( )

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Member Function Documentation

void Planner::Construct ( ) [pure virtual]

Generate a planning graph. Reimplemented in IncrementalPlanner, and PRM.

bool Planner::GapSatisfied ( const MSLVector & x1, const MSLVector & x2 )

Determine if the gap error is staisfied.

MSLVector Planner::NormalState ( MSLVector mean, double sd ) [protected]

Pick a state using a Normal distribution.

bool Planner::Plan ( ) [pure virtual]

Attempt to solve an Initial-Goal query. Reimplemented in FDP, FDPBi, PRM, RRT, RRTCon, RRTDual, RRTExtExt, RRTExtCon, and RRTConCon.

MSLVector Planner::RandomState ( ) [protected]

Choose a state at random.

void Planner::ReadGraphs ( ifstream & fin ) [pure virtual]

Read roadmap or trees from a file. Reimplemented in IncrementalPlanner, and RoadmapPlanner.

void Planner::Reset ( )

Reset the planner. Reimplemented in FDP, FDPBi, and RRT.

void Planner::WriteGraphs ( ofstream & fout ) [pure virtual]

Write roadmap or trees to a file. Reimplemented in IncrementalPlanner, and RoadmapPlanner.

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Member Data Documentation

double Planner::CumulativeConstructTime

Total amount of time spent on construction.

double Planner::CumulativePlanningTime

Total amount of time spent on planning.

MSLVector Planner::GapError

How much gap error is allowed for each element in bidirectional search.

MSLVector Planner::GapState

The last state in a path before a jump occurs.

bool Planner::Holonomic

Set to true to ignore inputs and avoid integration (default false). This will make "regular" path planning much faster.

list< MSLVector > Planner::InputList

The inputs associated with a solution path.

int Planner::NumNodes

Number of nodes to generate in a single execution of Plan or Construct.

list< MSLVector > Planner::Path

The solution path, as a list of states.

double Planner::PlannerDeltaT

Time step to use for incremental planners.

list< MSLVector > Planner::Policy

The solution policy, as a list of inputs.

MSLRandomSource Planner::R [protected]

MSLGraph * Planner::Roadmap

A graph to represent a roadmap (used by roadmap planners, but included in Planner base to allow GuiPlanner to handle all planners).

list< MSLVector > Planner::StateList

The states associated with a solution path.

MSLTree * Planner::T

A search tree (used by incremental planners, but included in Planner base to allow GuiPlanner to handle all planners).

MSLTree * Planner::T2

A second tree (if needed).

list< double > Planner::TimeList

The times associated with a solution path.

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The documentation for this class was generated from the following file:

• planner.h

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Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.