DART  6.6.2
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
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 ( )

◆ 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