30 #ifndef HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH 31 #define HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH 37 namespace pathPlanner {
63 virtual void startSolve();
66 virtual void tryConnectInitAndGoals();
68 virtual void oneStep();
70 STATE getComputationState()
const;
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_;
114 #endif // HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
Definition: bi-rrt-planner.hh:35
pinocchio::size_type size_type
Definition: fwd.hh:173
Definition: path-planner.hh:45
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
Definition: k-prm-star.hh:44
static const double kPRM
Constant kPRM = 2 e.
Definition: k-prm-star.hh:50
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:302
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:181
STATE
Computation step of the algorithm.
Definition: k-prm-star.hh:43
Definition: k-prm-star.hh:46
PathPlanner Parent_t
Definition: k-prm-star.hh:51
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
Definition: k-prm-star.hh:45
#define HPP_CORE_DLLAPI
Definition: config.hh:88
Definition: k-prm-star.hh:40