Class Planner¶

Defined in File planner.hpp

Inheritance Relationships¶

Derived Types¶

public AntColony (Class AntColony)
public AStar (Class AStar)
public Dijkstra (Class Dijkstra)
public DStarLite (Class DStarLite)
public GeneticAlgorithm (Class GeneticAlgorithm)
public JumpPointSearch (Class JumpPointSearch)
public LPAStar (Class LPAStar)
public RRT (Class RRT)
public RRTStar (Class RRTStar)

Class Documentation¶

class Planner¶

Abstract class that is inherited by concerete implementaions of planner classes. The Plan function is a pure virtual funciton that is overloaded

Subclassed by AntColony, AStar, Dijkstra, DStarLite, GeneticAlgorithm, JumpPointSearch, LPAStar, RRT, RRTStar

Public Functions

Planner(std::vector<std::vector<int>> grid)¶

Constructor.

Return

no return value

Parameters

grid: the grid on which the planner is to plan

Planner(const Planner&)¶

Copy constructor.

default

Return: No return value

Planner(Planner&&)¶

Move constructor.

default

Return: No return value

Planner &operator=(const Planner&)¶

Copy assignment.

default

Return: No return value

Planner &operator=(Planner&&)¶

Move assignment.

default

Return: No return value

virtual ~Planner()¶

Virtual destructor.

default

Return: No return value

virtual std::tuple<bool, std::vector<Node>> Plan(const Node &start, const Node &goal) = 0¶

Pure virtual function that is overloadde by planner implementations.

Return

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

Parameters

start: start node
goal: goal node

virtual void SetDynamicObstacles(const bool create_random_obstacles = false, const std::unordered_map<int, std::vector<Node>> &time_discovered_obstacles = {})¶

Sets the time discovered obstacles and the option that allows the creation of random obstacles.

Set separately from the plan function to allow this to persist between calls to

Plan()

Return

void

Parameters

create_random_obstacles: should random obstacles be created during execution
time_discovered_obstacles: obstacles to be discovered at specific times

Protected Attributes

std::vector<std::vector<int>> grid_ = {}¶

const std::vector<std::vector<int>> original_grid_¶

const int n_¶