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).