23#ifndef _PLUGINS_COLLI_SEARCH_ASTAR_H_
24#define _PLUGINS_COLLI_SEARCH_ASTAR_H_
26#include "../common/types.h"
27#include "astar_state.h"
35class 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);
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.
AStarColli(LaserOccupancyGrid *occGrid, Logger *logger, Configuration *config)
Constructor.
void solve(const point_t &robo_pos, const point_t &target_pos, std::vector< point_t > &solution)
solves the given assignment.
This is the abstract(!) class for an A* State.
int total_cost_
The total cost.
Interface for configuration handling.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
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.
Point with cartesian coordinates as signed integers.