23 #ifndef __PLUGINS_COLLI_SEARCH_ASTAR_H_ 24 #define __PLUGINS_COLLI_SEARCH_ASTAR_H_ 26 #include "astar_state.h" 27 #include "../common/types.h" 39 class LaserOccupancyGrid;
63 void solve(
const point_t &robo_pos,
const point_t &target_pos, std::vector<point_t> &solution );
89 std::vector< AStarState * > astar_states_;
93 int astar_state_count_;
103 std::priority_queue< AStarState *, std::vector< AStarState * >, cmp > open_list_;
106 std::map< int, int > closed_list_;
116 int calculate_key(
int x,
int y );
125 void generate_children(
AStarState * father );
128 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.
This class tries to translate the found plan to interpreteable data for the rest of the program...
Fawkes library namespace.
std::vector< AStarState * > solve(AStarState *initialState)
Solves a situation given by the initial state with AStar, and returns a vector of AStarStates that so...
Costs of occupancy-grid cells.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
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.
Point with cartesian coordinates as signed integers.
Interface for configuration handling.