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| SBLPRTInterface (CSpace *space) |
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virtual bool | CanAddMilestone () const |
| | Returns true if a milestone can currently be added.
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| virtual bool | IsPointToPoint () const |
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virtual int | AddMilestone (const Config &q) |
| | Adds a milestone, if possible. Returns an id of the milestone.
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virtual void | GetMilestone (int i, Config &q) |
| | For the id of a milestone previously added, returns its configuration.
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virtual void | ConnectHint (int i) |
| | Manual indication that the milestone is a good candidate for connecting.
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virtual bool | ConnectHint (int i, int j) |
| | Manual indication that the milestones are good candidates for connecting.
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virtual int | PlanMore () |
| | Performs a planning unit and returns the added milestone.
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virtual int | NumIterations () const |
| | Returns the number of elaped planning units.
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virtual int | NumMilestones () const |
| | Returns the number of milestones stored by the planner.
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virtual int | NumComponents () const |
| | Returns the number of connected components stored by the planner.
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virtual bool | IsConnected (int ma, int mb) const |
| | Returns true if the two milestones are connected with a feasible path.
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virtual void | GetPath (int ma, int mb, MilestonePath &path) |
| | Returns a feasible path between two connected milestones.
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virtual bool | IsSolved () const |
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virtual void | GetSolution (MilestonePath &path) |
| | For single-query planners, returns the solution path.
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| virtual std::string | Plan (MilestonePath &path, const HaltingCondition &cond) |
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virtual void | PlanMore (int numIters) |
| | Performs numIters planning units.
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virtual bool | IsOptimizing () const |
| | Returns true if this planner can optimize the path after the first solution.
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virtual bool | IsLazy () const |
| | Returns true if this planner has lazy semantics.
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| virtual bool | IsLazyConnected (int ma, int mb) const |
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| virtual bool | CheckPath (int ma, int mb) |
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virtual bool | IsSolved () |
| | For single-query planners, returns true if the start and goal are connected.
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virtual void | GetRoadmap (Roadmap &roadmap) const |
| | Returns a full-blown roadmap representation of the roadmap.
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virtual void | GetStats (PropertyMap &stats) const |
| | Returns some named statistics about the planner, implementation-dependent.
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Public Member Functions inherited from MotionPlannerInterface