This planner finds a path to quickly get out of an obstacle. More...

Public Member Functions
virtual std::unique_ptr< Path >	run (PlanRequest &planRequest) override
	Returns an obstacle-free Path subject to the specified MotionContraints.

virtual MotionCommand::CommandType	commandType () const override
	The MotionCommand type that this planner handles.

Public Member Functions inherited from Planning::SingleRobotPathPlanner
virtual bool	canHandleDynamic ()

Static Public Member Functions
static Geometry2d::Point	findNonBlockedGoal (Geometry2d::Point pt, std::optional< Geometry2d::Point > prevPt, const Geometry2d::ShapeSet &obstacles, int maxItr=300, std::function< void(const RRT::Tree< Geometry2d::Point > &)> rrtLogger=nullptr)
	Uses an RRT to find a point near to that isn't blocked by obstacles. More...

static void	createConfiguration (Configuration *cfg)

static float	stepSize ()

static float	goalChangeThreshold ()

Static Public Member Functions inherited from Planning::SingleRobotPathPlanner
static double	goalPosChangeThreshold ()

static double	goalVelChangeThreshold ()

static double	replanTimeout ()

static void	createConfiguration (Configuration *cfg)

static void	allDynamicToStatic (Geometry2d::ShapeSet &obstacles, const std::vector< DynamicObstacle > &dynamicObstacles)

static void	splitDynamic (Geometry2d::ShapeSet &obstacles, std::vector< DynamicObstacle > &dynamicOut, const std::vector< DynamicObstacle > &dynamicObstacles)

static bool	shouldReplan (const PlanRequest &planRequest)
	Checks if the previous path is no longer valid and needs to be re-planned. More...

Additional Inherited Members
Protected Member Functions inherited from Planning::SingleRobotPathPlanner
	SingleRobotPathPlanner (bool handlesDynamic)

Detailed Description

This planner finds a path to quickly get out of an obstacle.

If the start point isn't in an obstacle, returns a path containing only the start point.

Inheritance diagram for Planning::EscapeObstaclesPathPlanner:

Collaboration diagram for Planning::EscapeObstaclesPathPlanner:

Member Function Documentation

Point Planning::EscapeObstaclesPathPlanner::findNonBlockedGoal	(	Geometry2d::Point	pt,
		std::optional< Geometry2d::Point >	prevPt,
		const Geometry2d::ShapeSet &	obstacles,
		int	maxItr = `300`,
		std::function< void(const RRT::Tree< Geometry2d::Point > &)>	rrtLogger = `nullptr`
	)

static

Uses an RRT to find a point near to that isn't blocked by obstacles.

If is give, only uses a newly-found point if it is closer to by a configurable threshold.

Parameters

rrtLogger Optional callback to log the rrt tree after it's built

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