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libmove3d-planners
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libmove3d-planners
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Public Member Functions | |
| StompReplanner (Robot *r) | |
| bool | init () |
| Before simple (no softmotion) replanning execution, this function initializes the replanner data. | |
| void | run () |
 Public Member Functions inherited from SimpleReplanner | |
| SimpleReplanner (Robot *r) | |
| 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 Types inherited from SimpleReplanner | |
| enum | ReplanningType { NAVIGATION = 0, MANIPULATION = 1, MOBILE_MANIP = 2 } |
| Protected Member Functions inherited from SimpleReplanner | |
| 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 inherited from SimpleReplanner | |
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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 |
1.8.6