Abstract base for planning. More...

Public Member Functions
	JPSPlanner (bool verbose=false)
	Simple constructor. More...

void	setMapUtil (const std::shared_ptr< JPS::MapUtil< Dim >> &map_util)
	Set map util for collistion checking.

int	status ()
	Status of the planner. More...

vec_Vecf< Dim >	getPath ()
	Get the modified path.

vec_Vecf< Dim >	getRawPath ()
	Get the raw path.

vec_Vecf< Dim >	removeLinePts (const vec_Vecf< Dim > &path)
	remove redundant points on the same line

vec_Vecf< Dim >	removeCornerPts (const vec_Vecf< Dim > &path)
	Remove some corner waypoints.

void	updateMap ()
	Must be called before run the planning thread.

bool	plan (const Vecf< Dim > &start, const Vecf< Dim > &goal, decimal_t eps=1, bool use_jps=true)
	Planning function.

vec_Vecf< Dim >	getOpenSet () const
	Get the nodes in open set.

vec_Vecf< Dim >	getCloseSet () const
	Get the nodes in close set.

vec_Vecf< Dim >	getAllSet () const
	Get all the nodes.

Protected Attributes
std::shared_ptr< JPS::MapUtil< Dim > >	map_util_
	Assume using 3D voxel map for all 2d and 3d planning.

std::shared_ptr< JPS::GraphSearch >	graph_search_
	The planner.

vec_Vecf< Dim >	raw_path_
	Raw path from planner.

vec_Vecf< Dim >	path_
	Modified path for future usage.

int	status_ = 0
	Flag indicating the success of planning.

bool	planner_verbose_
	Enabled for printing info.

std::vector< char >	cmap_
	1-D map array

Detailed Description

Abstract base for planning.

Constructor & Destructor Documentation

template<int Dim>

JPSPlanner< Dim >::JPSPlanner ( bool verbose = false )

Simple constructor.

Parameters

verbose enable debug mode

template<int Dim>

int JPSPlanner< Dim >::status ( )

Status of the planner.

0 — exit normally; -1 — no path found; 1, 2 — start or goal is not free.

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