19 #ifndef HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH 20 # define HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH 26 namespace pathPlanner {
53 virtual void startSolve ();
56 virtual void tryConnectInitAndGoals ();
58 virtual void oneStep ();
60 STATE getComputationState ()
const;
71 void init (
const kPrmStarWkPtr_t& weak);
76 void generateRandomConfig ();
80 void connectInitAndGoal ();
84 bool connectNodeToClosestNeighbors (
const NodePtr_t& node);
86 std::size_t numberNodes_;
88 Nodes_t::const_iterator linkingNodeIt_;
90 Nodes_t::iterator itNeighbor_;
96 bool reachedLastNeighbor_;
98 kPrmStarWkPtr_t weak_;
104 #endif // HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
Definition: bi-rrt-planner.hh:24
pinocchio::size_type size_type
Definition: fwd.hh:156
Definition: path-planner.hh:34
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
Definition: k-prm-star.hh:34
static const double kPRM
Constant kPRM = 2 e.
Definition: k-prm-star.hh:40
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:286
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:164
STATE
Computation step of the algorithm.
Definition: k-prm-star.hh:33
Definition: k-prm-star.hh:36
PathPlanner Parent_t
Definition: k-prm-star.hh:41
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
Definition: k-prm-star.hh:35
#define HPP_CORE_DLLAPI
Definition: config.hh:64
Definition: k-prm-star.hh:29