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| typedef C | CfgType |
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| typedef W | WeightType |
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| typedef C | CfgRef |
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| typedef MPProblem< MPTraits > | MPProblemType |
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| typedef boost::mpl::list< EuclideanDistance< MPTraits >, ScaledEuclideanDistance< MPTraits >, WorkspaceTranslationDistance< MPTraits > > | DistanceMetricMethodList |
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| typedef boost::mpl::list< AlwaysTrueValidity< MPTraits >, CollisionDetectionValidity< MPTraits > > | ValidityCheckerMethodList |
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| typedef boost::mpl::list< BruteForceNF< MPTraits >, RadiusNF< MPTraits > > | NeighborhoodFinderMethodList |
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| typedef boost::mpl::list< BridgeTestSampler< MPTraits >, GaussianSampler< MPTraits >, ObstacleBasedSampler< MPTraits >, UniformRandomSampler< MPTraits > > | SamplerMethodList |
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| typedef boost::mpl::list< StraightLine< MPTraits > > | LocalPlannerMethodList |
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| typedef boost::mpl::list< BasicExtender< MPTraits > > | ExtenderMethodList |
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| typedef boost::mpl::list< > | PathModifierMethodList |
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| typedef boost::mpl::list< CCsConnector< MPTraits >, NeighborhoodConnector< MPTraits >, RegionConnector< MPTraits >, RegionRRTConnect< MPTraits >, RewireConnector< MPTraits >, RRTConnect< MPTraits > > | ConnectorMethodList |
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| typedef boost::mpl::list< NumNodesMetric< MPTraits > > | MetricMethodList |
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| typedef boost::mpl::list< ConditionalEvaluator< MPTraits > > | MapEvaluatorMethodList |
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| typedef boost::mpl::list< BasicParallelPRM< MPTraits >, BlindRRT< MPTraits >, BulkRRT< MPTraits >, RadialBlindRRT< MPTraits >, RadialSubdivisionRRT< MPTraits >, RegularSubdivisionMethod< MPTraits > > | MPStrategyMethodList |
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template<class C, class W = DefaultWeight<C>>
struct MPTraits< C, W >
Defines available methods in the Motion Planning Universe for Cfg under parallel compile.
- Template Parameters
-
MPTraits is a type class which defines the motion planning universe. We construct our methods through a factory design pattern, and thus this states all available classes within an abstraction that you can use in the system. Essentially, the important types are the CfgType or the @cspace abstraction class, the WeightType or the edge type of the graph, and a type list for each algorithm abstraction — here you only need to define what you need, as extraneous methods in the type class imply longer compile times.
1.9.1