Inheritance diagram for SimpleReplanner:

Public Member Functions
	SimpleReplanner (Robot *r)

bool	init ()
	Before simple (no softmotion) replanning execution, this function initializes the replanner data.

void	run ()

Public Member Functions inherited from Replanner
	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

Protected Types
enum	ReplanningType { NAVIGATION = 0, MANIPULATION = 1, MOBILE_MANIP = 2 }

Protected Member Functions
void	setActiveJoints (int set)
	Choose what part of the robot are active in the planning phase Three type of planning to chose from Navigation, Manipulation, Mobile-anipulation.

void	initActiveJoints ()

void	initForNavigation ()
	Set the DoFs active/passive of the robot for navigation.

void	initForManipulation ()

void	initForMobileManipulation ()

bool	initCreateStraightline ()
	Creates a straight line trajectory uses the main robot of the simulator or uses the current robot if not initialized.

Protected Member Functions inherited from Replanner
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
enum SimpleReplanner::ReplanningType	replanningType

Protected Attributes inherited from Replanner
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

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

Public Member Functions

Protected Types