Tutorial 1 - C++

Currently, there is no visualization with the C++ version.

Execute the binary.

Compile the code and run the following command in a terminal, type

build-folder/src/hpp-tutorial-1

Understanding the source code.

Have a look at the file src/tutorial_1.cc. It contains the C++ code that defines and solves the same path planning problem as tutorial_1.py.

ProblemSolverPtr_t ps = ProblemSolver::create();

Class hpp::core::ProblemSolver is a container class that stores

• a robot,
• objstacles,
• various types of path planning algorithms (hpp::core::PathPlanner),
• various types of path optimizers (hpp::core::PathOptimizer),
• various types of configuration shooter (hpp::core::ConfigurationShooter),
• various types of steering methods (hpp::core::SteeringMethod),
• various types of path validation methods (hpp::core::PathValidation)
• various types of path projection algorithms (hpp::core::PathProjector)
• various types of metrics defined on the configuration space (hpp::core::Distance).