List of all members | Public Member Functions | Protected Attributes
GlobalPlanner Class Referenceabstract
armarx_navigation » GlobalPlanner

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.

Constructor & Destructor Documentation

◆ GlobalPlanner()

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

◆ ~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.

Member Data Documentation

◆ generalConfig

core::GeneralConfig generalConfig
protected

◆ scene

const core::Scene& scene
protected
The documentation for this class was generated from the following files: