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;
109 std::vector<ParentMap_t> toRoot_;
112 BiRrtStarWkPtr_t weak_;
Definition: path-planner.hh:45
Definition: bi-rrt-star.hh:43
PathPlanner Parent_t
Definition: bi-rrt-star.hh:45
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:39
pinocchio::value_type value_type
Definition: fwd.hh:173
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:198
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:196
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:186
Definition: bi-rrt-planner.hh:35