armarx::AStarPathPlannerBase

Overview

[ "cpp:virtual" ] class AStarPathPlannerBase extends PathPlannerBase

@brief Implements path planning using A*.

Operation Index

setTranslationtStepSize

@brief Sets the translation step size.

setRotationStepSize

@brief Sets the rotation step size.

setBoundingXRange

@brief Sets the bounding range for the x-coordinate.

setBoundingYRange

@brief setBoundingYRange Sets the bounding range for the y-coordinate.

setNeighbourSteps

@brief Sets allowed neighbours.

setRotationFactorForHeuristic

@brief Sets the rotation factor for the heuristic used by A*.

setDistanceFactorForHeuristic

@brief Sets the distance factor for the heuristic used by A*.

Data Member Index

tStepSize

xBoundingRange

yBoundingRange

neighbourDeltas

rotationFactorForHeuristic

distanceFactorForHeuristic

Operations

void setTranslationtStepSize(float tStepSize) throws InvalidArgumentException

@brief Sets the translation step size. (size of steps along x- or y-axis)

Parameters

tStepSize

The translation step size.

void setRotationStepSize(float rStepSize)

void setBoundingXRange(FloatRange xBoundingRange) throws InvalidArgumentException

@brief Sets the bounding range for the x-coordinate. (No path with a node max will be found)

Parameters

xBoundingRange

The bounding range for the x-coordinate.

void setBoundingYRange(FloatRange yBoundingRange) throws InvalidArgumentException

@brief setBoundingYRange Sets the bounding range for the y-coordinate. (No path with a node max will be found)

Parameters

yBoundingRange

The bounding range for the y-coordinate.

void setNeighbourSteps(Vector3IBaseList neighbours)

@brief Sets allowed neighbours. x/y/z are the number of steps in x/y/z direction. Used to calculate neighbours of a found node.

Parameters

neighbours

Allowed neighbours.

void setRotationFactorForHeuristic(float factor)

void setDistanceFactorForHeuristic(float factor)

[ "protected" ] float tStepSize;

[ "protected" ] FloatRange xBoundingRange;

[ "protected" ] FloatRange yBoundingRange;

[ "protected" ] Vector3IBaseList neighbourDeltas;

[ "protected" ] float rotationFactorForHeuristic;

[ "protected" ] float distanceFactorForHeuristic;