SPFAImpl Class Reference

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

Public Types
using	Params = SPFAParams
using	PlanningResult = ::armarx::navigation::global_planning::PlanningResult

Public Member Functions
std::optional< GlobalPlannerResult >	calculatePath (const PlanningResult &planner, const core::Pose &goal, const std::optional< RecoveryInfo > &recovery=std::nullopt)
PlanningResult	executePlanner (const core::Pose &start)
PlanningResult	executePlannerFromPosition (const Eigen::Vector2f &startPosition)
std::optional< GlobalPlannerResult >	plan (const core::Pose &start, const core::Pose &goal)
	SPFAImpl (const Params &params, const core::GeneralConfig &generalParams, const std::optional< navigation::algorithms::Costmap > &costmap)
void	updateCostmap (const std::optional< navigation::algorithms::Costmap > &costmap)

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

Friends
class	SPFA

Detailed Description

Definition at line 84 of file SPFA.h.

Member Typedef Documentation

Params

using Params = SPFAParams

Definition at line 88 of file SPFA.h.

PlanningResult

using PlanningResult = ::armarx::navigation::global_planning::PlanningResult

Definition at line 89 of file SPFA.h.

Constructor & Destructor Documentation

SPFAImpl()

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

Definition at line 125 of file SPFA.cpp.

Member Function Documentation

calculatePath()

std::optional< GlobalPlannerResult > calculatePath	(	const PlanningResult &	planner,
		const core::Pose &	goal,
		const std::optional< RecoveryInfo > &	recovery = std::nullopt )

Definition at line 280 of file SPFA.cpp.

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executePlanner()

SPFAImpl::PlanningResult executePlanner

(

const core::Pose &

start

)

Definition at line 231 of file SPFA.cpp.

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executePlannerFromPosition()

SPFAImpl::PlanningResult executePlannerFromPosition

(

const Eigen::Vector2f &

startPosition

)

Definition at line 272 of file SPFA.cpp.

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plan()

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

Definition at line 146 of file SPFA.cpp.

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postProcessPath()

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

protected

chain approximation

Definition at line 610 of file SPFA.cpp.

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updateCostmap()

void updateCostmap

(

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

costmap

)

Definition at line 133 of file SPFA.cpp.

Friends And Related Symbol Documentation

SPFA

friend class SPFA

friend

Definition at line 87 of file SPFA.h.

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

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