Interface for Path Planners. More...

Public Member Functions
virtual std::unique_ptr< Path >	run (PlanRequest &planRequest)=0
	Returns an obstacle-free Path subject to the specified MotionContraints.

virtual MotionCommand::CommandType	commandType () const =0
	The MotionCommand type that this planner handles.

virtual bool	canHandleDynamic ()

Static Public Member Functions
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	Checks if the previous path is no longer valid and needs to be re-planned.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
	SingleRobotPathPlanner (bool handlesDynamic)

Detailed Description

Interface for Path Planners.

Inheritance diagram for Planning::SingleRobotPathPlanner:

Member Function Documentation

bool Planning::SingleRobotPathPlanner::shouldReplan ( const PlanRequest & planRequest )

static

Checks if the previous path is no longer valid and needs to be re-planned.

This method does the following checks:

Is path non-null?
Does it have a valid destination()?
Is the robot too far away from where the path says it should be? (see the replan threshold)
Does the path enter new obstacles?

Subclasses will generally use this method in addition to their own planner-specific checks to determine if a replan is necessary.

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