AStarPlanner Class Reference

The A* planner (3D version including orientation dimension) More...

#include <armarx/navigation/algorithms/orientation_aware/AStarPlanner.h>

Public Types
using	Params = io::AStarWithOrientationParams

Public Member Functions
	AStarPlanner (const Costmap3D &costmap, io::AStarWithOrientationParams params)
std::size_t	lastExpandedNodes () const noexcept
	Number of nodes expanded during the last plan() call.
std::vector< core::Pose2D >	plan (const core::Pose2D &start, const core::Pose2D &goal)

Detailed Description

The A* planner (3D version including orientation dimension)

Member Typedef Documentation

Params

using Params = io::AStarWithOrientationParams

Constructor & Destructor Documentation

AStarPlanner()

AStarPlanner	(	const Costmap3D &	costmap,
		io::AStarWithOrientationParams	params )

Member Function Documentation

lastExpandedNodes()

std::size_t lastExpandedNodes ( ) const

inlinenoexcept

Number of nodes expanded during the last plan() call.

Reported by the offline planner evaluation; not used by the navigation stack itself.

plan()

std::vector< core::Pose2D > plan	(	const core::Pose2D &	start,
		const core::Pose2D &	goal )

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

• armarx/navigation/algorithms/orientation_aware/AStarPlanner.h
• armarx/navigation/algorithms/orientation_aware/AStarPlanner.cpp