Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
PlannerCommandInterface Class Reference

An interface that uses a real-time planner to solve for an arbitrary objective function. Subclasses must choose which type of planner to use. More...

#include <UserInterface.h>

Inheritance diagram for PlannerCommandInterface:
InputProcessingInterface RobotUserInterface IKPlannerCommandInterface RRTCommandInterface

Public Member Functions

virtual string Name () const
 
virtual string Description () const
 
virtual string ActivateEvent (bool enabled)
 
virtual string UpdateEvent ()
 
virtual string Instructions () const
 
- Public Member Functions inherited from InputProcessingInterface
void SetProcessor (shared_ptr< InputProcessorBase > &newProcessor)
 
bool ObjectiveChanged ()
 
shared_ptr< PlannerObjectiveBaseGetObjective ()
 
CartesianObjectiveGetCartesianObjective ()
 
virtual void DrawGL ()
 
virtual string MouseInputEvent (int mx, int my, bool drag)
 
virtual string SpaceballEvent (const RigidTransform &T)
 
- Public Member Functions inherited from RobotUserInterface
RobotGetRobot () const
 
void GetClickRay (int mx, int my, Ray3D &ray) const
 
virtual string KeypressEvent (unsigned char c, int mx, int my)
 

Public Attributes

shared_ptr< RealTimePlannerplanner
 
shared_ptr< PlannerObjectiveBaseplannerObjective
 
double lastPlanTime
 
double nextPlanTime
 
double startObjectiveThreshold
 
bool started
 
- Public Attributes inherited from InputProcessingInterface
shared_ptr< InputProcessorBaseinputProcessor
 
shared_ptr< PlannerObjectiveBasecurrentObjective
 
- Public Attributes inherited from RobotUserInterface
RobotWorldworld
 
Camera::Viewport * viewport
 
RobotWorldplanningWorld
 
WorldPlannerSettingssettings
 
MotionQueueInterfacerobotInterface
 

Detailed Description

An interface that uses a real-time planner to solve for an arbitrary objective function. Subclasses must choose which type of planner to use.

Member Data Documentation

double PlannerCommandInterface::startObjectiveThreshold

The planner will not be called until the objective function is set below this threshold. Infinity by default (i.e., the planner will start instantly)


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