A class that encompasses the functions central to the search. More...

#include <algorithm.h>

Static Public Member Functions
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 path. More...

Detailed Description

A class that encompasses the functions central to the search.

Member Function Documentation

Node3D * Algorithm::hybridAStar	(	Node3D &	start,
		const Node3D &	goal,
		Node3D *	nodes3D,
		Node2D *	nodes2D,
		int	width,
		int	height,
		CollisionDetection &	configurationSpace,
		float *	dubinsLookup,
		Visualize &	visualization
	)

static

The heart of the planner, the main algorithm starting the search for a collision free and drivable path.

Parameters

start	the start pose
goal	the goal pose
nodes3D	the array of 3D nodes representing the configuration space C in R^3
nodes2D	the array of 2D nodes representing the configuration space C in R^2
width	the width of the grid in number of cells
height	the height of the grid in number of cells
configurationSpace	the lookup of configurations and their spatial occupancy enumeration
dubinsLookup	the lookup of analytical solutions (Dubin's paths)
visualization	the visualization object publishing the search to RViz

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