Z3Planner Class Reference

Z3 based planners. More...

#include <Z3Planner.hpp>

Static Public Member Functions
static rw::pathplanning::QToQPlanner::Ptr	makeQToQPlanner (rw::core::Ptr< rw::pathplanning::QSampler > sampler, rw::pathplanning::QToQPlanner::Ptr localPlanner, int nodeCnt=-1, int repeatCnt=-1)
	Z3 based point-to-point planner. More...
static rw::pathplanning::QToQPlanner::Ptr	makeQToQPlanner (const rw::pathplanning::PlannerConstraint &constraint, rw::core::Ptr< rw::models::Device > device)
	Z3 based point-to-point planner. More...
static rw::pathplanning::QToQPlanner::Ptr	makeSlidingQToQPlanner (const rw::pathplanning::PlannerConstraint &constraint, rw::core::Ptr< rw::pathplanning::QSampler > directionSampler, rw::core::Ptr< rw::pathplanning::QConstraint > boundsConstraint, rw::math::QMetric::Ptr metric, double extend, double slideImprovement=-1)
	Sliding local planner. More...
static rw::pathplanning::QToQPlanner::Ptr	makeSlidingQToQPlanner (const rw::pathplanning::PlannerConstraint &constraint, rw::core::Ptr< rw::models::Device > device, rw::math::QMetric::Ptr metric=0, double extend=-1, double slideImprovement=-1)
	Sliding local planner. More...

Detailed Description

Z3 based planners.

See "The Z3-Method for Fast Path Planning in Dynamic Environments", Boris Baginski, 1996.

Member Function Documentation

makeQToQPlanner() [1/2]

static rw::pathplanning::QToQPlanner::Ptr makeQToQPlanner ( const rw::pathplanning::PlannerConstraint &  constraint, rw::core::Ptr< rw::models::Device >  device  )

static

Z3 based point-to-point planner.

A default configuration space sampler (rw::pathplanning::QSampler) and local planning is chosen for device using constraint for collision checking.

Parameters

constraint	[in] Constraint for configurations and edges.
device	[in] Device for which the path is planned.

makeQToQPlanner() [2/2]

static rw::pathplanning::QToQPlanner::Ptr makeQToQPlanner ( rw::core::Ptr< rw::pathplanning::QSampler >  sampler, rw::pathplanning::QToQPlanner::Ptr  localPlanner, int  nodeCnt = -1, int  repeatCnt = -1  )

static

Z3 based point-to-point planner.

Parameters

sampler	[in] Sampler of the configuration space.
localPlanner	[in] Local planner for connecting the configurations.
nodeCnt	[in] Number of supporting configurations to insert. If nodeCnt is negative, a default value is chosen.
repeatCnt	[in] Number of times to repeat the attempt. If repeatCnt is negative (the default), the attempts are repeated until the stop criteria returns true.

makeSlidingQToQPlanner() [1/2]

static rw::pathplanning::QToQPlanner::Ptr makeSlidingQToQPlanner ( const rw::pathplanning::PlannerConstraint &  constraint, rw::core::Ptr< rw::models::Device >  device, rw::math::QMetric::Ptr  metric = 0, double  extend = -1, double  slideImprovement = -1  )

static

Sliding local planner.

A default direction sampler and bounds checker is chosen for device.

Parameters

constraint	[in] Path planning constraint.
device	[in] Device for which the planning is done.
metric	[in] Configuration space distance measure. If no metric is given, a default metric for device is chosen. In this case extend and slideImprovement should be negative, and default values for these will be chosen.
extend	[in] The length of each sliding step as measured by metric.
slideImprovement	[in] The minimum decrease in distance to the goal that should be acheived for every valid slide step. If slideImprovement is negative, a default value for slideImprovement is chosen based on the value of extend.

makeSlidingQToQPlanner() [2/2]

static rw::pathplanning::QToQPlanner::Ptr makeSlidingQToQPlanner ( const rw::pathplanning::PlannerConstraint &  constraint, rw::core::Ptr< rw::pathplanning::QSampler >  directionSampler, rw::core::Ptr< rw::pathplanning::QConstraint >  boundsConstraint, rw::math::QMetric::Ptr  metric, double  extend, double  slideImprovement = -1  )

static

Sliding local planner.

This is a variation of the sliding local planner described in the Z3 paper.

This is the default local planner used for instantiation of the Z3 based planners.

Parameters

constraint	[in] Path planning constraint.
directionSampler	[in] Sampler of direction vectors in the configuration space.
boundsConstraint	[in] Constraint checking for the bounds of the configuration space.
metric	[in] Configuration space distance measure.
extend	[in] The length of each sliding step as measured by metric.
slideImprovement	[in] The minimum decrease in distance to the goal that should be acheived for every valid slide step. If slideImprovement is negative, a default value for slideImprovement is chosen based on the value of extend.

---

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

• Z3Planner.hpp