23 #ifndef OPENRAVE_PLANNINGUTILS_H
24 #define OPENRAVE_PLANNINGUTILS_H
30 namespace planningutils {
205 virtual void SetPlanner(
const std::string& plannername=
"",
const std::string& plannerparameters=
"");
211 virtual PlannerStatus PlanPath(
TrajectoryBasePtr traj,
const std::vector<dReal>& maxvelocities,
const std::vector<dReal>& maxaccelerations,
bool hastimestamps=
false);
328 virtual void SetUserCheckFunction(
const boost::function<
bool() >& usercheckfn,
bool bCallAfterCheckCollision=
false);
341 virtual bool _CheckState();
343 std::vector<dReal> _vtempconfig,
dQ;
355 dReal Eval(
const std::vector<dReal>& c0,
const std::vector<dReal>& c1);
367 bool Sample(std::vector<dReal>& vNewSample,
const std::vector<dReal>& vCurSample,
dReal fRadius);
368 bool Sample(std::vector<dReal>& samples);
371 boost::function<dReal(const std::vector<dReal>&,
const std::vector<dReal>&)> _distmetricfn;
389 virtual bool Sample(std::vector<dReal>& vgoal);
397 bool SampleAll(std::list<IkReturnPtr>& samples,
int maxsamples=0,
int maxchecksamples=0);
402 virtual int GetIkParameterizationIndex(
int index);
403 virtual void SetSamplingProb(
dReal fsampleprob);
408 virtual void SetJitter(
dReal maxdist);