navlib::RoadmapPlanner Class Reference

Uses the A* algorithm to find the shortest path. More...

#include <roadmapPlanner.h>

Inheritance diagram for navlib::RoadmapPlanner:

List of all members.

Public Member Functions
	RoadmapPlanner (TpbvpSolver *solver, bool reverse=true, size_t knn=5)
	Constructor.
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.
void	addWaypoint (PathPoint wp)
	Adds a waypoint.
void	addWaypoints (std::vector< PathPoint > wps)
	Adds a set of waypoints.
void	clearWaypoints ()
	Clears all waypoints.
void	removeWaypoint (PathPoint wp)
	Removes a waypoint.
void	removeWaypoints (std::vector< PathPoint > wps)
	Removes a set of waypoints.

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Detailed Description

Uses the A* algorithm to find the shortest path.

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Constructor & Destructor Documentation

RoadmapPlanner::RoadmapPlanner	(	TpbvpSolver *	solver,
		bool	reverse = true,
		size_t	knn = 5
	)

Constructor.

Parameters:

	solver	two point boundary value solver
	reverse	set to true if the vehicle can move in reverse
	knn	max number of neighbors each waypoint has

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Member Function Documentation

Path * RoadmapPlanner::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::PathPoint::getDistance(), navlib::TpbvpSolver::getPath(), navlib::PathChain::insert(), and navlib::VpTree< T >::search().

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

• pathplanner/roadmapPlanner.h
• pathplanner/roadmapPlanner.cpp