AStarWithOrientationImpl Class Reference

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

Public Types
using	Params = AStarWithOrientationParams

Public Member Functions
	AStarWithOrientationImpl (const Params &params, const std::optional< navigation::algorithms::orientation_aware::Costmap3D > &costmap, VirtualRobot::RobotPtr robot)
std::optional< GlobalPlannerResult >	plan (const core::Pose &start, const core::Pose &goal)
void	updateCostmap (const std::optional< navigation::algorithms::orientation_aware::Costmap3D > &costmap)
void	visualizeDebugInfo (viz::Client &vizClient, const std::string &vizLayerNamePrefix="global_planner_debug")

Protected Attributes
std::optional< navigation::algorithms::orientation_aware::Costmap3D >	costmap
Params	params
VirtualRobot::RobotPtr	robot

Detailed Description

Definition at line 52 of file AStarWithOrientation.h.

Member Typedef Documentation

Params

using Params = AStarWithOrientationParams

Definition at line 55 of file AStarWithOrientation.h.

Constructor & Destructor Documentation

AStarWithOrientationImpl()

AStarWithOrientationImpl	(	const Params &	params,
		const std::optional< navigation::algorithms::orientation_aware::Costmap3D > &	costmap,
		VirtualRobot::RobotPtr	robot )

Definition at line 120 of file AStarWithOrientation.cpp.

Member Function Documentation

plan()

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

Definition at line 143 of file AStarWithOrientation.cpp.

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updateCostmap()

void updateCostmap

(

const std::optional< navigation::algorithms::orientation_aware::Costmap3D > &

costmap

)

Definition at line 129 of file AStarWithOrientation.cpp.

visualizeDebugInfo()

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

Definition at line 236 of file AStarWithOrientation.cpp.

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Member Data Documentation

costmap

std::optional<navigation::algorithms::orientation_aware::Costmap3D> costmap

protected

Definition at line 71 of file AStarWithOrientation.h.

params

Params params

protected

Definition at line 70 of file AStarWithOrientation.h.

robot

VirtualRobot::RobotPtr robot

protected

Definition at line 72 of file AStarWithOrientation.h.

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

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