Inheritance diagram for SoftmotionReplanner:

Public Member Functions
	SoftmotionReplanner (Robot *r)

bool	init ()

void	run ()
	Replan a trajectory for the entire robot using the manipulation planner the trajectory is planned using RRT and a soft motion trajectory is the produced.

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

Additional Inherited Members
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 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

Additional Inherited Members