Base class of all global planners. More...

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

Inheritance diagram for GlobalPlanner:

Public Member Functions
	GlobalPlanner (const core::GeneralConfig &generalConfig, const core::Scene &scene)

virtual std::optional< GlobalPlannerResult >	plan (const core::Pose &goal)=0

virtual std::optional< GlobalPlannerResult >	plan (const core::Pose &start, const core::Pose &goal)=0

virtual void	visualizeDebugInfo (viz::Client &vizClient, const std::string &vizLayerNamePrefix="global_planner_debug")

virtual	~GlobalPlanner ()=default

Protected Attributes
core::GeneralConfig	generalConfig

const core::Scene &	scene

Detailed Description

Base class of all global planners.

Definition at line 72 of file GlobalPlanner.h.

Constructor & Destructor Documentation

◆ GlobalPlanner()

GlobalPlanner	(	const core::GeneralConfig &	generalConfig,
		const core::Scene &	scene )

Definition at line 9 of file GlobalPlanner.cpp.

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◆ ~GlobalPlanner()

virtual ~GlobalPlanner ( )

virtualdefault

Member Function Documentation

◆ plan() [1/2]

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

pure virtual

Implemented in AStar, AStarWithOrientation, Point2Point, and SPFA.

◆ plan() [2/2]

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

pure virtual

Implemented in AStar, AStarWithOrientation, Point2Point, and SPFA.

◆ visualizeDebugInfo()

virtual void visualizeDebugInfo	(	viz::Client &	vizClient,
		const std::string &	vizLayerNamePrefix = "global_planner_debug" )

inlinevirtual

Reimplemented in AStarWithOrientation.

Definition at line 83 of file GlobalPlanner.h.

Member Data Documentation

◆ generalConfig

core::GeneralConfig generalConfig

protected

Definition at line 89 of file GlobalPlanner.h.

◆ scene

const core::Scene& scene