Class JumpPointSearch

• Defined in File jump_point_search.hpp

Inheritance Relationships

Base Type

• public Planner (Class Planner)

Class Documentation

class JumpPointSearch : public Planner

Class for objects that plan using the jump point search algorithm.

Public Functions

JumpPointSearch(const std::vector<std::vector<int>> &grid)

Constructor.

Return

no return value

Parameters

• grid: the grid on which the planner is to plan

std::tuple<bool, std::vector<Node>> Plan(const Node &start, const Node &goal)

Jump Point Search algorithm implementation.

Return

tuple contatining a bool as to whether a path was found, and the path

Parameters

• start: start node
• goal: goal node

bool HasForcedNeighbours(const Node &new_point, const Node &next_point, const Node &motion) const

Node jump(const Node &new_point, const Node &motion, const int id)