hpp-core
4.13.0
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH
31 #define HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH
37 namespace pathPlanner {
71 void init(
const BiRrtStarWkPtr_t& weak);
74 typedef std::map<NodePtr_t, EdgePtr_t> ParentMap_t;
107 std::vector<ParentMap_t> toRoot_;
110 BiRrtStarWkPtr_t weak_;
116 #endif // HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:186
PathPlanner Parent_t
Definition: bi-rrt-star.hh:45
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:176
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:188
HPP_PREDEF_CLASS(kPrmStar)
Definition: bi-rrt-planner.hh:35
Definition: bi-rrt-star.hh:43
Definition: path-planner.hh:45
shared_ptr< BiRrtStar > BiRrtStarPtr_t
Definition: bi-rrt-star.hh:39
pinocchio::value_type value_type
Definition: fwd.hh:163
#define HPP_CORE_DLLAPI
Definition: config.hh:64