10 #ifndef ORCA_DIRECTPLANNER_H 11 #define ORCA_DIRECTPLANNER_H 71 #endif //ORCA_DIRECTPLANNER_H PathPlanner class implements base pathfinder interface and behavior.
DirectPlanner class implements simple planner, which creates direct path from start to goal position...
File contains Node, Point, Line, Vertex, ObstacleSegment classes and some methods and functions imple...
bool GetNext(const Point &curr, Point &next) override
Returns current goal of agent. Always return goal position.
DirectPlanner * Clone() const override
Method for cloning objects. Creates copy of object in memmory and return pointer to copy...
The Point class defines a position (or euclidean vector from (0,0)) in 2D space.
File contains PathPlanner class.
~DirectPlanner() override
DirectPlanner destructor.
bool CreateGlobalPath() override
Nothing.
Class EnvironmentOptions contains environment and algoritms parameters.
Map class describes static environment.
DirectPlanner(const Map &map, const EnvironmentOptions &options, const Point &start, const Point &goal, const float &radius)
DirectPlanner constructor with parametes.
DirectPlanner & operator=(const DirectPlanner &obj)
Assignment operator.