Point2DPlanning.cpp
85 bool plan(unsigned int start_row, unsigned int start_col, unsigned int goal_row, unsigned int goal_col)
125 const int w = std::min(maxWidth_, (int)p.getState(i)->as<ob::RealVectorStateSpace::StateType>()->values[0]);
126 const int h = std::min(maxHeight_, (int)p.getState(i)->as<ob::RealVectorStateSpace::StateType>()->values[1]);
145 const int w = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[0], maxWidth_);
146 const int h = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[1], maxHeight_);
Load and save .ppm files - "portable pixmap format" an image file formats designed to be easily excha...
Definition: PPM.h:46
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition: PathGeometric.h:249
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition: PathGeometric.h:237
A shared pointer wrapper for ompl::geometric::SimpleSetup.
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:78
void interpolate(unsigned int count)
Insert a number of states in a path so that the path is made up of exactly count states. States are inserted uniformly (more states on longer segments). Changes are performed only if a path has less than count states.
Definition: PathGeometric.cpp:316
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
Definition: PPM.h:49
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:47