AStarImpl Class Reference

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

Public Types
using	Params = AStarParams

Public Member Functions
	AStarImpl (const Params &params, const core::GeneralConfig &generalConfig, const std::optional< navigation::algorithms::Costmap > &costmap)
std::optional< GlobalPlannerResult >	plan (const core::Pose &start, const core::Pose &goal)
void	updateCostmap (const std::optional< navigation::algorithms::Costmap > &costmap)

Protected Member Functions
std::vector< Eigen::Vector2f >	postProcessPath (const std::vector< Eigen::Vector2f > &path)

Member Typedef Documentation

Params

using Params = AStarParams

Constructor & Destructor Documentation

AStarImpl()

AStarImpl	(	const Params &	params,
		const core::GeneralConfig &	generalConfig,
		const std::optional< navigation::algorithms::Costmap > &	costmap )

Member Function Documentation

plan()

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

postProcessPath()

std::vector< Eigen::Vector2f > postProcessPath ( const std::vector< Eigen::Vector2f > & path )

protected

chain approximation

updateCostmap()

void updateCostmap

(

const std::optional< navigation::algorithms::Costmap > &

costmap

)

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

• armarx/navigation/global_planning/AStar.h
• armarx/navigation/global_planning/AStar.cpp