dart::planning::PathShortener Class Reference

#include <PathShortener.hpp>

Public Member Functions
	PathShortener ()
	PathShortener (simulation::WorldPtr world, dynamics::SkeletonPtr robot, const std::vector< std::size_t > &dofs, double stepSize=0.1)
	~PathShortener ()
virtual void	shortenPath (std::list< Eigen::VectorXd > &rawPath)
bool	segmentCollisionFree (std::list< Eigen::VectorXd > &waypoints, const Eigen::VectorXd &config1, const Eigen::VectorXd &config2)

Protected Member Functions
virtual bool	localPlanner (std::list< Eigen::VectorXd > &waypoints, std::list< Eigen::VectorXd >::const_iterator it1, std::list< Eigen::VectorXd >::const_iterator it2)

Protected Attributes
simulation::WorldPtr	world
dynamics::SkeletonPtr	robot
std::vector< std::size_t >	dofs
double	stepSize

Constructor & Destructor Documentation

PathShortener() [1/2]

dart::planning::PathShortener::PathShortener

(

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PathShortener() [2/2]

dart::planning::PathShortener::PathShortener	(	simulation::WorldPtr	world,
		dynamics::SkeletonPtr	robot,
		const std::vector< std::size_t > &	dofs,
		double	stepSize = 0.1
	)

~PathShortener()

dart::planning::PathShortener::~PathShortener

(

)

Member Function Documentation

localPlanner()

bool dart::planning::PathShortener::localPlanner ( std::list< Eigen::VectorXd > &  waypoints, std::list< Eigen::VectorXd >::const_iterator  it1, std::list< Eigen::VectorXd >::const_iterator  it2  )

protectedvirtual

segmentCollisionFree()

bool dart::planning::PathShortener::segmentCollisionFree	(	std::list< Eigen::VectorXd > &	waypoints,
		const Eigen::VectorXd &	config1,
		const Eigen::VectorXd &	config2
	)

shortenPath()

void dart::planning::PathShortener::shortenPath ( std::list< Eigen::VectorXd > &  rawPath )

virtual

Member Data Documentation

dofs

std::vector<std::size_t> dart::planning::PathShortener::dofs

protected

robot

dynamics::SkeletonPtr dart::planning::PathShortener::robot

protected

stepSize

double dart::planning::PathShortener::stepSize

protected

world

simulation::WorldPtr dart::planning::PathShortener::world

protected