AStar Class Reference

#include <armarx/navigation/global_planning/AStar.h>

+ Inheritance diagram for AStar:

Public Types

using Params = AStarParams
 

Public Member Functions

 AStar (const Params &params, const core::Scene &ctx)
 
std::optional< GlobalPlannerResultplan (const core::Pose &goal) override
 
std::optional< GlobalPlannerResultplan (const core::Pose &start, const core::Pose &goal) override
 
 ~AStar () override=default
 
- Public Member Functions inherited from GlobalPlanner
 GlobalPlanner (const core::Scene &scene)
 
virtual ~GlobalPlanner ()=default
 

Protected Member Functions

std::vector< Eigen::Vector2f > postProcessPath (const std::vector< Eigen::Vector2f > &path)
 

Additional Inherited Members

- Protected Attributes inherited from GlobalPlanner
const core::Scenescene
 

Detailed Description

Implements the A* algorithm

Definition at line 52 of file AStar.h.

Member Typedef Documentation

◆ Params

Definition at line 55 of file AStar.h.

Constructor & Destructor Documentation

◆ AStar()

AStar ( const Params params,
const core::Scene ctx 
)

Definition at line 72 of file AStar.cpp.

◆ ~AStar()

~AStar ( )
overridedefault

Member Function Documentation

◆ plan() [1/2]

std::optional< GlobalPlannerResult > plan ( const core::Pose goal)
overridevirtual

Implements GlobalPlanner.

Definition at line 150 of file AStar.cpp.

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◆ plan() [2/2]

std::optional< GlobalPlannerResult > plan ( const core::Pose start,
const core::Pose goal 
)
overridevirtual

Implements GlobalPlanner.

Definition at line 157 of file AStar.cpp.

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◆ postProcessPath()

std::vector< Eigen::Vector2f > postProcessPath ( const std::vector< Eigen::Vector2f > &  path)
protected

chain approximation

Definition at line 133 of file AStar.cpp.

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