Base replanner. More...

Inheritance diagram for Replanner:

Public Member Functions
	Replanner (Robot *r)
	Initialize replanner by setting the robot, the multi-localpaths available and calling the init function.

void	setHuman (Robot *human)

void	setSwitchData (confPtr_t qSwitch, int idSwitch, double positionSwitch, double timeLimitRePlanning, double localPathAverageLength, double initialStep)

confPtr_t	getQSwitch ()

confPtr_t	getQGoal ()

API::Trajectory &	getCurrentTrajectory ()

bool	isPlanSucceeded () const

bool	isPlanningUndergo () const

virtual bool	init ()=0

virtual void	run ()=0

Protected Member Functions
bool	initMultiLocalPath ()
	Initialize the robot multilocal path disable the display of the main robot.

p3d_traj *	concatenateToCurrentTrajectory (const std::vector< p3d_traj * > &trajs)

std::pair< bool, API::Trajectory >	concatenateToCurrentTrajectory (const API::Trajectory &newPortion)
	Concatenate the new portion of the trajectory which is going to be used The concatanation happens at swith id which has to be computed before.

Protected Attributes
Robot *	robot

Robot *	human

confPtr_t	qGoal

API::Trajectory	currentTrajectory

bool	useMultiLocalPath

int	baseMultiLocalPath

int	baseSoftMotionMultiLocalPath

int	headMultiLocalPath

int	upBodyMultiLocalPath

int	upBodySoftMotionMultiLocalPath

bool	isPlanning

bool	planningSucceeded

bool	firstRun

int	idRun

confPtr_t	qSwitch

int	idSwitch

double	positionSwitch

double	timeLimitRePlanning

double	localPathAverageLength

double	initialStep

Detailed Description

Base replanner.

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

Public Member Functions