path_planner/algorithm_8h_source.html

 #ifndef ALGORITHM_H

 #define ALGORITHM_H


 #include <ompl/base/spaces/ReedsSheppStateSpace.h>

 #include <ompl/base/spaces/DubinsStateSpace.h>

 #include <ompl/base/spaces/SE2StateSpace.h>

 #include <ompl/base/State.h>

 #include <ompl/base/ScopedState.h>


 typedef ompl::base::SE2StateSpace::StateType State;


 #include "node3d.h"

 #include "node2d.h"

 #include "visualize.h"

 #include "collisiondetection.h"

 #include "helper.h"

 #include "vector2d.h"


 namespace HybridAStar {

 class Node3D;

 class Node2D;

 class Visualize;


 class Algorithm {

  public:

   Algorithm() {}


   // HYBRID A* ALGORITHM

   static Node3D* hybridAStar(Node3D& start,

                              const Node3D& goal,

                              Node3D* nodes3D,

                              Node2D* nodes2D,

                              int width,

                              int height,

                              CollisionDetection& configurationSpace,

                              float* dubinsLookup,

                              Visualize& visualization);


 };

 }

 #endif // ALGORITHM_H

HybridAStar::Node3D
A three dimensional node class that is at the heart of the algorithm.
Definition: node3d.h:14

HybridAStar::Algorithm
A class that encompasses the functions central to the search.
Definition: algorithm.h:27

HybridAStar::CollisionDetection
The CollisionDetection class determines whether a given configuration q of the robot will result in a...
Definition: collisiondetection.h:31

HybridAStar::Algorithm::hybridAStar
static Node3D * hybridAStar(Node3D &start, const Node3D &goal, Node3D *nodes3D, Node2D *nodes2D, int width, int height, CollisionDetection &configurationSpace, float *dubinsLookup, Visualize &visualization)
The heart of the planner, the main algorithm starting the search for a collision free and drivable pa...
Definition: algorithm.cpp:31

HybridAStar::Node2D
A two dimensional node class used for the holonomic with obstacles heuristic.
Definition: node2d.h:14

HybridAStar::Visualize
A class for visualizing the hybrid A* search.
Definition: visualize.h:23

HybridAStar::Algorithm::Algorithm
Algorithm()
The deault constructor.
Definition: algorithm.h:30

helper.h
This is a collection of helper functions that are used throughout the project.