23 #ifndef __PLUGINS_COLLI_SEARCH_ASTAR_SEARCH_H_ 24 #define __PLUGINS_COLLI_SEARCH_ASTAR_SEARCH_H_ 26 #include "abstract_search.h" 36 class LaserOccupancyGrid;
41 typedef struct point_struct
point_t;
54 void update(
int robo_x,
int robo_y,
int target_x,
int target_y );
68 point_t calculate_local_target();
74 point_t calculate_local_trajec_point( );
77 bool is_obstacle_between(
const point_t &a,
const point_t &b,
const int maxcount );
81 std::vector< point_t > plan_;
83 point_t robo_position_, target_position_;
84 bool updated_successful_;
85 int cfg_search_line_allowed_cost_max_;
struct fawkes::point_struct point_t
Point with cartesian coordinates as signed integers.
std::vector< point_t > * get_plan()
Get the current plan.
Fawkes library namespace.
This is the abstract search interpretation class for an arbitrary search algorithm to find its way th...
void update(int robo_x, int robo_y, int target_x, int target_y)
update complete plan things
virtual ~Search()
Destructor.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
bool updated_successful()
returns, if the update was successful or not.
Search(LaserOccupancyGrid *occ_grid, Logger *logger, Configuration *config)
Constructor.
point_t get_robot_position()
Get the robot's position in the grid, used for the plan.
Point with cartesian coordinates as signed integers.
Interface for configuration handling.