19 #ifndef HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH
20 # define HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH
26 namespace pathPlanner {
61 void init (
const BiRrtStarWkPtr_t& weak);
64 typedef std::map<NodePtr_t, EdgePtr_t> ParentMap_t;
96 std::vector<ParentMap_t> toRoot_;
99 BiRrtStarWkPtr_t weak_;
Definition: path-planner.hh:34
Definition: bi-rrt-star.hh:33
PathPlanner Parent_t
Definition: bi-rrt-star.hh:35
BiRrtStar(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
static BiRrtStarPtr_t createWithRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
void oneStep()
One step of the algorithm.
void init(const BiRrtStarWkPtr_t &weak)
Store weak pointer to itself.
BiRrtStar(const ProblemConstPtr_t &problem)
static BiRrtStarPtr_t create(const ProblemConstPtr_t &problem)
#define HPP_CORE_DLLAPI
Definition: config.hh:64
HPP_PREDEF_CLASS(kPrmStar)
shared_ptr< BiRrtStar > BiRrtStarPtr_t
Definition: bi-rrt-star.hh:28
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
Definition: bi-rrt-planner.hh:24