23 #ifndef _PLUGINS_COLLI_SEARCH_ASTAR_H_ 24 #define _PLUGINS_COLLI_SEARCH_ASTAR_H_ 26 #include "../common/types.h" 27 #include "astar_state.h" 35 class LaserOccupancyGrid;
59 void solve(
const point_t &robo_pos,
const point_t &target_pos, std::vector<point_t> &solution);
85 std::vector<AStarState *> astar_states_;
89 int astar_state_count_;
101 std::priority_queue<AStarState *, std::vector<AStarState *>, cmp> open_list_;
104 std::map<int, int> closed_list_;
114 int calculate_key(
int x,
int y);
126 void get_solution_sequence(
AStarState *node, std::vector<point_t> &solution);
This is the abstract(!) class for an A* State.
int total_cost_
The total cost.
point_t remove_target_from_obstacle(int target_x, int target_y, int step_x, int step_y)
Method, returning the nearest point outside of an obstacle.
This class tries to translate the found plan to interpreteable data for the rest of the program.
Fawkes library namespace.
Costs of occupancy-grid cells.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
AStarColli(LaserOccupancyGrid *occGrid, Logger *logger, Configuration *config)
Constructor.
Point with cartesian coordinates as signed integers.
void solve(const point_t &robo_pos, const point_t &target_pos, std::vector< point_t > &solution)
solves the given assignment.
Interface for configuration handling.