jps_planner.h

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#ifndef JPS_PLANNER_BASE_H
#define JPS_PLANNER_BASE_H

#include <jps_basis/data_type.h>
#include <jps_planner/jps_planner/graph_search.h>
#include <jps_collision/map_util.h>

class GraphSearch;
template <int Dim>
class JPSPlanner
{
  public:
    JPSPlanner(bool verbose = false);

    void setMapUtil(const std::shared_ptr<JPS::MapUtil<Dim>>& map_util);
    int status();
    vec_Vecf<Dim> getPath();
    vec_Vecf<Dim> getRawPath();
    vec_Vecf<Dim> removeLinePts(const vec_Vecf<Dim> &path);
    vec_Vecf<Dim> removeCornerPts(const vec_Vecf<Dim> &path);
    void updateMap();
    bool plan(const Vecf<Dim> &start, const Vecf<Dim> &goal, decimal_t eps = 1, bool use_jps = true);
    vec_Vecf<Dim> getOpenSet() const;
    vec_Vecf<Dim> getCloseSet() const;
    vec_Vecf<Dim> getAllSet() const;
  protected:
    std::shared_ptr<JPS::MapUtil<Dim>> map_util_;
    std::shared_ptr<JPS::GraphSearch> graph_search_;
    vec_Vecf<Dim> raw_path_;
    vec_Vecf<Dim> path_;
    int status_ = 0;
    bool planner_verbose_;
    std::vector<char> cmap_;
};

typedef JPSPlanner<2> JPSPlanner2D;

typedef JPSPlanner<3> JPSPlanner3D;

#endif