Planner which plans a path to line kick a ball. 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 ()

Additional Inherited Members
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	Checks if the previous path is no longer valid and needs to be re-planned.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...

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

Detailed Description

Planner which plans a path to line kick a ball.

Uses the System State object to get the position of the ball and predict its Path. It chooses the closest intersection point with the ball Path it can reach in time and plans a Path so the ball and robot intersect at the same time.

TODO(ashaw596): Fix bug with replanning on real robots.

Inheritance diagram for Planning::LineKickPlanner:

Collaboration diagram for Planning::LineKickPlanner:

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

soccer/planning/LineKickPlanner.hpp
soccer/planning/LineKickPlanner.cpp

Public Member Functions

Additional Inherited Members

Detailed Description