Implements an A* planner but is compatible with non-circular robots. More...
#include <armarx/navigation/global_planning/AStarWithOrientation.h>
Inheritance diagram for AStarWithOrientation:Public Types | |
| using | Params = AStarWithOrientationParams |
Public Member Functions | |
| AStarWithOrientation (const Params ¶ms, const core::GeneralConfig &generalConfig, 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 |
| void | visualizeDebugInfo (viz::Client &vizClient, const std::string &vizLayerNamePrefix="global_planner_debug") override |
| Public Member Functions inherited from GlobalPlanner | |
| GlobalPlanner (const core::GeneralConfig &generalConfig, const core::Scene &scene) | |
| virtual | ~GlobalPlanner ()=default |
Protected Attributes | |
| AStarWithOrientationImpl | impl |
| Protected Attributes inherited from GlobalPlanner | |
| core::GeneralConfig | generalConfig |
| const core::Scene & | scene |
Detailed Description
Implements an A* planner but is compatible with non-circular robots.
Compared to circular robots, the orientation of non-circular robots is important to not collide with obstacles.
This class is the integration class for the GlobalPanner base class.
Definition at line 88 of file AStarWithOrientation.h.
Member Typedef Documentation
◆ Params
| using Params = AStarWithOrientationParams |
Definition at line 91 of file AStarWithOrientation.h.
Constructor & Destructor Documentation
◆ AStarWithOrientation()
| AStarWithOrientation | ( | const Params & | params, |
| const core::GeneralConfig & | generalConfig, | ||
| const core::Scene & | ctx ) |
Member Function Documentation
◆ plan() [1/2]
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overridevirtual |
Implements GlobalPlanner.
Definition at line 94 of file AStarWithOrientation.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ plan() [2/2]
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overridevirtual |
Implements GlobalPlanner.
Definition at line 101 of file AStarWithOrientation.cpp.
◆ visualizeDebugInfo()
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overridevirtual |
Reimplemented from GlobalPlanner.
Definition at line 111 of file AStarWithOrientation.cpp.
Member Data Documentation
◆ impl
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protected |
Definition at line 107 of file AStarWithOrientation.h.
The documentation for this class was generated from the following files:
- armarx/navigation/global_planning/AStarWithOrientation.h
- armarx/navigation/global_planning/AStarWithOrientation.cpp
