14 class LEMUR :
public OpenRAVE::PlannerBase
18 const OpenRAVE::EnvironmentBasePtr env;
19 LEMURParametersConstPtr params;
20 OpenRAVE::RobotBasePtr robot;
21 std::vector<int> robot_adofs;
23 or_lemur::OrCheckerPtr ompl_checker;
24 ompl_lemur::BinaryUtilityCheckerPtr ompl_binary_checker;
26 boost::shared_ptr<ompl_lemur::LEMUR> ompl_planner;
29 LEMUR(OpenRAVE::EnvironmentBasePtr env);
32 bool InitPlan(OpenRAVE::RobotBasePtr robot, std::istream & isParameters);
36 bool InitPlan(OpenRAVE::RobotBasePtr robot, OpenRAVE::PlannerBase::PlannerParametersConstPtr params);
38 OpenRAVE::PlannerBase::PlannerParametersConstPtr GetParameters()
const;
40 OpenRAVE::PlannerStatus PlanPath(OpenRAVE::TrajectoryBasePtr);
42 bool GetTimes(std::ostream & sout, std::istream & sin)
const;
Definition: planner_lemur.h:14