#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< GlobalPlannerResult >	plan (const core::Pose &goal) override

std::optional< GlobalPlannerResult >	plan (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::Scene &	scene

Detailed Description

Implements the A* algorithm

Definition at line 52 of file AStar.h.

Member Typedef Documentation

◆ Params

using Params = AStarParams

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.