19 #ifndef HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
20 # define HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
26 namespace pathPlanner {
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_;
Definition: path-planner.hh:34
Definition: k-prm-star.hh:30
STATE getComputationState() const
get the computationnal state of the algorithm
virtual void tryConnectInitAndGoals()
PathPlanner Parent_t
Definition: k-prm-star.hh:41
virtual void oneStep()
One step of the algorithm.
static kPrmStarPtr_t create(const ProblemConstPtr_t &problem)
kPrmStar(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
void init(const kPrmStarWkPtr_t &weak)
Store weak pointer to itself.
kPrmStar(const ProblemConstPtr_t &problem)
static const double kPRM
Constant kPRM = 2 e.
Definition: k-prm-star.hh:40
static kPrmStarPtr_t createWithRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
virtual void startSolve()
STATE
Computation step of the algorithm.
Definition: k-prm-star.hh:33
@ CONNECT_INIT_GOAL
Definition: k-prm-star.hh:36
@ BUILD_ROADMAP
Definition: k-prm-star.hh:34
@ LINK_NODES
Definition: k-prm-star.hh:35
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:286
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:164
Definition: bi-rrt-planner.hh:24