19 #ifndef HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH 20 # define HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH 26 namespace pathPlanner {
39 static BiRrtStarPtr_t create (
const Problem& problem);
43 static BiRrtStarPtr_t createWithRoadmap (
const Problem& problem,
61 void init (
const BiRrtStarWkPtr_t& weak);
64 typedef std::map<NodePtr_t, EdgePtr_t> ParentMap_t;
94 std::vector<ParentMap_t> toRoot_;
97 BiRrtStarWkPtr_t weak_;
103 #endif // HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH HPP_PREDEF_CLASS(kPrmStar)
boost::shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
Definition: problem.hh:48
Definition: basic-configuration-shooter.hh:26
Definition: path-planner.hh:34
pinocchio::value_type value_type
Definition: fwd.hh:157
boost::shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:181
Definition: bi-rrt-star.hh:32
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
PathPlanner Parent_t
Definition: bi-rrt-star.hh:35
boost::shared_ptr< BiRrtStar > BiRrtStarPtr_t
Definition: bi-rrt-star.hh:28