MotionPlanning

Classes to assist in motion planning. More...

Classes
class	HaltingCondition
	A termination condition for a planner. Supports max iteration count, time limit, absolute cost, and cost improvement conditions. More...
class	MotionPlannerInterface
	An abstract class for a sample-based motion planner. More...
class	ControlSpace
	Encodes the dynamics of a system, including the dynamics function f(x,u), control bounds, and available steering functions. More...
class	ReversibleControlSpace
class	SteeringFunction
	A function in a ControlSpace that attempts to connect two states with a sequence of one or more controls. More...
class	IntegratedControlSet
	A cartesian-product control space in which groups of states are controlled by individual control spaces. More...
class	CSet
	A subset of a CSpace, which establishes a constraint for a configuration to be feasible. More...
class	BoxSet
class	AxisRangeSet
class	CSpace
	Motion planning configuration space base class. The configuration space implements an interpolation space with obstacles. To implement obstacles, the user will create some CSets (or predicates) and add them via the AddConstraint method. More...
class	GeodesicCSpace
class	GeodesicCSpaceAdaptor
class	CartesianCSpace
class	BoxCSpace
class	MultiCSpace
class	DensityEstimatorBase
	A base class for density estimators. Each point in an N dimensional space is attached to some data pointer. Density in the space is measured by the Density() function, and only matters in a relative sense. More...
class	GridDensityEstimator
	A grid-based (n-d projected histogram) density estimator. More...
class	MultiGridDensityEstimator
	A multiple-grid based density estimator that attempts to avoid data fragmentation by collecting histograms on multiple axes and fusing them together. More...
class	KernelDensityEstimator
	a Kernel Density Estimation density estimator. More...
class	EdgePlanner
	Abstract base class for an edge planner / edge checker (i.e., local planner). More...
class	EdgeChecker
	An EdgePlanner that just checks a given interpolator or straight line path between two configurations. More...
class	EpsilonEdgeChecker
	Edge checker that divides the path until epsilon resolution is reached. More...
class	ObstacleDistanceEdgeChecker
	Edge checker that divides the path until the segment distance is below CSpace.ObstacleDistance() More...
class	BisectionEpsilonEdgePlanner
class	PathEdgeChecker
	An edge checker that checks a sequence of edges. More...
class	MultiEdgePlanner
	An edge planners that plans a stacked list of edges. More...
class	IncrementalizedEdgePlanner
	An incremental edge planner that calls a non-incremental edge planner. This adapts one-shot edge planners to be used in lazy motion planners. More...
class	GeneralizedCubicBezierCurve
	A generalized Bezier curve that uses the CSpace's Interpolate routine to generate the smooth interpolation. More...
class	GeneralizedCubicBezierSpline
	A Bezier spline with segment durations. More...
class	Interpolator
	A base class for all 1D interpolators. More...
class	ReverseInterpolator
	An interpolator that reverses another one. More...
class	LinearInterpolator
	An interpolator that goes between two Configs. More...
class	GeodesicInterpolator
	An interpolator that uses a GeodesicSpace's Interpolate function. More...
class	CSpaceInterpolator
	An interpolator that uses a CSpace's Interpolate function. More...
class	TimeRemappedInterpolator
	An interpolator that remaps a time interval of another interpolator. Maps the parameter range [pstart,pend] (by default [0,1]) to the range [a,b] on the base interpolator. More...
class	PathInterpolator
	An interpolator that concatenates a list of other interpolators. The interpolators may have nonuniform duration. More...
class	MultiInterpolator
	A cartesian product of interpolators. More...
class	KinodynamicSpace
	A class used for kinodynamic planning. Combines a CSpace defining the state space, as well as a ControlSpace. More...
class	IntegratedKinodynamicSpace
	A class that produces a KinodynamicCSpace from a dynamics function subclassed from IntegratedControlSpace. Collision checking is performed at the integration resolution given in the dynamics function. More...
class	RandomBiasSteeringFunction
	A simple approximate steering function that simply draws several samples and picks the closest one in terms of CSpace distance. More...
class	RandomBiasReverseSteeringFunction
	A simple approximate steering function that simply draws several samples and picks the closest one in terms of CSpace distance. More...
class	RoadmapPlanner
	A base roadmap planner class. More...
class	TreeRoadmapPlanner
	A base class to be used for tree-based roadmap planners. More...
class	PerturbationTreePlanner
	A tree-based randomized planner that extends the roadmap by sampling the neighborhood of existing samples. More...
class	RRTPlanner
	A basic RRT (Rapidly-Exploring Random Tree) planner. More...
class	BidirectionalRRTPlanner
	A single-query RRT (Rapidly-Exploring Random Tree) planner. More...
class	MultiModalCSpace< Mode >
	Multi-modal configuration space base class. More...
class	ObjectiveFunctionalBase
	A base class for objective functionals of the form J[x,u] = sum_0^N-1 L(xi,ui) dt + Phi(xN) More...
class	IntegratorObjectiveFunctional
	A cost functional of the form J[x,u] = int_0^T L(x(t),u(t)) dt + Phi(x(T)) More...
class	LengthObjective
	An objective that measures path length. More...
class	TimeObjective
	An objective that measures path execution time. Accumulated time is assumed to be part of the state, specifically the element indexed by timeIndex. More...
class	MilestonePath
	A sequence of locally planned paths between milestones. More...
class	PRTPlanner
	The PRT (Probabilistic Roadmap of Trees) planner. More...
class	SBLPlanner
	The SBL motion planner. More...
class	SBLTree
	A tree of configurations to be used in the SBL motion planner. More...
class	SBLTreeWithIndex
	An SBLTree with a node index. More...
class	SBLTreeWithGrid
	An SBL motion planner that uses a SBLSubdivision to pick the next node to expand, and nodes to connect. More...
class	SpaceTimeCSpace
	A cspace that prepends a time variable to the given CSpace. This is best used with perturbation-sampling planners, and/or SpaceTimeIntegratedKinodynamicCSpace. More...
class	SpaceTimeIntegratedKinodynamicSpace
	This KinodynamicCSpace prefixes time onto the state of the given CSpace instance and automatically increments the time state variable as the dynamics are integrated forward. More...

Detailed Description

Classes to assist in motion planning.