<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> <html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/> <title>OMPL: ompl::geometric Namespace Reference</title> <meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki"> <link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection"> <link rel="stylesheet" href="../css/print.css" type="text/css" media="print"> <!--[if lt IE 7]> <script type="text/javascript" src="../js/jquery/jquery.js"></script> <script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script> <![endif]--> <script type="text/javaScript" src="search/search.js"></script> <script type="text/javascript"> var _gaq = _gaq || []; _gaq.push(['_setAccount', 'UA-9156598-2']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 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href="namespaceompl.html">ompl</a> </li> <li class="navelem"><a class="el" href="namespaceompl_1_1geometric.html">geometric</a> </li> </ul> </div> </div> <div class="header"> <div class="summary"> <a href="#nested-classes">Classes</a> | <a href="#func-members">Functions</a> </div> <div class="headertitle"> <div class="title">ompl::geometric Namespace Reference</div> </div> </div> <div class="contents"> <p>This namespace contains code that is specific to planning under geometric constraints. <a href="#details">More...</a></p> <table class="memberdecls"> <tr><td colspan="2"><h2><a name="nested-classes"></a> Classes</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1BallTreeRRTstar.html">BallTreeRRTstar</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Optimal Rapidly-exploring Random Trees with Ball Trees. <a href="classompl_1_1geometric_1_1BallTreeRRTstar.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1RRTstar.html">RRTstar</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Optimal Rapidly-exploring Random Trees. <a href="classompl_1_1geometric_1_1RRTstar.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SampleContrib.html">SampleContrib</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html">GAIK</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Inverse Kinematics with Genetic Algorithms. <a href="classompl_1_1geometric_1_1GAIK.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1HCIK.html">HCIK</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Inverse Kinematics with Hill Climbing. <a href="classompl_1_1geometric_1_1HCIK.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a geometric path. <a href="classompl_1_1geometric_1_1PathGeometric.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html">PathSimplifier</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">This class contains routines that attempt to simplify geometric paths. <a href="classompl_1_1geometric_1_1PathSimplifier.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html">EST</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Expansive Space Trees. <a href="classompl_1_1geometric_1_1EST.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1BKPIECE1.html">BKPIECE1</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Bi-directional KPIECE with one level of discretization. <a href="classompl_1_1geometric_1_1BKPIECE1.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1Discretization.html">Discretization</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">One-level discretization used for KPIECE. <a href="classompl_1_1geometric_1_1Discretization.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KPIECE1.html">KPIECE1</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Kinematic Planning by Interior-Exterior Cell Exploration. <a href="classompl_1_1geometric_1_1KPIECE1.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1LBKPIECE1.html">LBKPIECE1</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Lazy Bi-directional KPIECE with one level of discretization. <a href="classompl_1_1geometric_1_1LBKPIECE1.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStarStrategy.html">KStarStrategy</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Make the minimal number of connections required to ensure asymptotic optimality. <a href="classompl_1_1geometric_1_1KStarStrategy.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PRM.html">PRM</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Probabilistic RoadMap planner. <a href="classompl_1_1geometric_1_1PRM.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1LazyRRT.html">LazyRRT</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Lazy <a class="el" href="classompl_1_1geometric_1_1RRT.html" title="Rapidly-exploring Random Trees.">RRT</a>. <a href="classompl_1_1geometric_1_1LazyRRT.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1pRRT.html">pRRT</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Parallel <a class="el" href="classompl_1_1geometric_1_1RRT.html" title="Rapidly-exploring Random Trees.">RRT</a>. <a href="classompl_1_1geometric_1_1pRRT.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1RRT.html">RRT</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Rapidly-exploring Random Trees. <a href="classompl_1_1geometric_1_1RRT.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1RRTConnect.html">RRTConnect</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">RRT-Connect (<a class="el" href="classompl_1_1geometric_1_1RRTConnect.html" title="RRT-Connect (RRTConnect)">RRTConnect</a>) <a href="classompl_1_1geometric_1_1RRTConnect.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1pSBL.html">pSBL</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Parallel Single-query Bi-directional Lazy collision checking planner. <a href="classompl_1_1geometric_1_1pSBL.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SBL.html">SBL</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking. <a href="classompl_1_1geometric_1_1SBL.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html">SimpleSetup</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Create the set of classes typically needed to solve a geometric problem. <a href="classompl_1_1geometric_1_1SimpleSetup.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifierPtr.html">PathSimplifierPtr</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html" title="This class contains routines that attempt to simplify geometric paths.">ompl::geometric::PathSimplifier</a>. <a href="classompl_1_1geometric_1_1PathSimplifierPtr.html#details">More...</a><br/></td></tr> <tr><td colspan="2"><h2><a name="func-members"></a> Functions</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8d48344aa78dd049f1a7287c7e0db021"></a><!-- doxytag: member="ompl::geometric::ClassForward" ref="a8d48344aa78dd049f1a7287c7e0db021" args="(PathSimplifier)" -->  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1geometric.html#a8d48344aa78dd049f1a7287c7e0db021">ClassForward</a> (<a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html">PathSimplifier</a>)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html" title="This class contains routines that attempt to simplify geometric paths.">ompl::geometric::PathSimplifier</a>. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a123e2234df405f726e2e47168b13b9c8"></a><!-- doxytag: member="ompl::geometric::getDefaultPlanner" ref="a123e2234df405f726e2e47168b13b9c8" args="(const base::GoalPtr &goal)" --> <a class="el" href="classompl_1_1base_1_1PlannerPtr.html">base::PlannerPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1geometric.html#a123e2234df405f726e2e47168b13b9c8">getDefaultPlanner</a> (const <a class="el" href="classompl_1_1base_1_1GoalPtr.html">base::GoalPtr</a> &goal)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Given a goal specification, decide on a planner for that goal. <br/></td></tr> </table> <hr/><a name="details" id="details"></a><h2>Detailed Description</h2> <div class="textblock"><p>This namespace contains code that is specific to planning under geometric constraints. </p> </div></div> <!-- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" 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