30#ifndef HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
31#define HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
37namespace pathPlanner {
81 void init(
const kPrmStarWkPtr_t& weak);
86 void generateRandomConfig();
90 void connectInitAndGoal();
94 bool connectNodeToClosestNeighbors(
const NodePtr_t& node);
96 std::size_t numberNodes_;
98 Nodes_t::const_iterator linkingNodeIt_;
100 Nodes_t::iterator itNeighbor_;
106 bool reachedLastNeighbor_;
108 kPrmStarWkPtr_t weak_;
Definition: path-planner.hh:45
Definition: k-prm-star.hh:40
STATE getComputationState() const
get the computationnal state of the algorithm
virtual void tryConnectInitAndGoals()
PathPlanner Parent_t
Definition: k-prm-star.hh:51
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:50
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:43
@ CONNECT_INIT_GOAL
Definition: k-prm-star.hh:46
@ BUILD_ROADMAP
Definition: k-prm-star.hh:44
@ LINK_NODES
Definition: k-prm-star.hh:45
#define HPP_CORE_DLLAPI
Definition: config.hh:88
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:302
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
pinocchio::size_type size_type
Definition: fwd.hh:173
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:181
Definition: bi-rrt-planner.hh:35