navlib::NDPlanner Class Reference
Uses the nearness diagram (ND) method to plan paths. More...
#include <ndPlanner.h>
Inheritance diagram for navlib::NDPlanner:
Public Member Functions | |
| NDPlanner (TpbvpSolver *solver) | |
| Path * | getPath (const PathPoint &wp0, const PathPoint &wpf, Shape *body, const std::vector< Point > &obstacles) |
| Returns a path that goes from one waypoint to another. | |
Detailed Description
Uses the nearness diagram (ND) method to plan paths.Constructor & Destructor Documentation
| NDPlanner::NDPlanner | ( | TpbvpSolver * | solver | ) |
- Parameters:
-
solver two point boundary value solver.
Member Function Documentation
| Path * NDPlanner::getPath | ( | const PathPoint & | wp0, | |
| const PathPoint & | wpf, | |||
| Shape * | body, | |||
| const std::vector< Point > & | obstacles | |||
| ) | [virtual] |
Returns a path that goes from one waypoint to another.
- Parameters:
-
wp0 initial waypoint wpf final waypoint body vehicle shape obstacles point cloud of obstacles
Implements navlib::PathPlanner.
References navlib::PathChain::append(), navlib::Path::collides(), navlib::Path::getFinalPathPoint(), navlib::Path::getLength(), navlib::PathChain::getLength(), and navlib::TpbvpSolver::getPath().
The documentation for this class was generated from the following files:
- pathplanner/ndPlanner.h
- pathplanner/ndPlanner.cpp
