PathPlanner Class Reference

PathPlanner class implements base pathfinder interface and behavior. More...

#include <PathPlanner.h>

Inheritance diagram for PathPlanner:

Public Member Functions
virtual PathPlanner *	Clone () const =0
	Abstract method for cloning inheritors objects. Implementations of this method should create copy of object in memmory and return pointer to copy. More...
virtual bool	CreateGlobalPath ()=0
	Abstract method. Should finds path from global start to global goal position. More...
virtual bool	GetNext (const Point &curr, Point &next)=0
	Abstract method. Should returns current goal of agent. More...
PathPlanner &	operator= (const PathPlanner &obj)
	Assignment operator. More...
	PathPlanner (const PathPlanner &obj)
	PathPlanner copy constructor. More...
	PathPlanner (const Map &map, const EnvironmentOptions &options, const Point &start, const Point &goal, const float &radius)
	PathPlanner constructor with parametes. More...
virtual	~PathPlanner ()
	Virtual PathPlanner destructor. More...

Detailed Description

PathPlanner class implements base pathfinder interface and behavior.

This class describes the interface of the pathfinding algorithm. It is in the successor classes of PathPlanner that it is supposed to implement a global path planner.

Definition at line 25 of file PathPlanner.h.

Constructor & Destructor Documentation

PathPlanner::PathPlanner ( const PathPlanner &  obj )

inline

PathPlanner copy constructor.

Parameters

obj	Object to copy.

Definition at line 32 of file PathPlanner.h.

PathPlanner::PathPlanner ( const Map &  map, const EnvironmentOptions &  options, const Point &  start, const Point &  goal, const float &  radius  )

inline

PathPlanner constructor with parametes.

Parameters

map	Static environment map. It contains information about grid and static obstacles boundaries. More about it see in Main page and Map class.
options	Environment and algorithm options. See EnvironmentOptions class.
start	Start position of agent.
goal	Goal position of agent.
radius	Radius of agent.

Definition at line 42 of file PathPlanner.h.

virtual PathPlanner::~PathPlanner ( )

inlinevirtual

Virtual PathPlanner destructor.

Definition at line 48 of file PathPlanner.h.

Member Function Documentation

virtual PathPlanner* PathPlanner::Clone ( ) const

pure virtual

Abstract method for cloning inheritors objects. Implementations of this method should create copy of object in memmory and return pointer to copy.

Returns

Pointer to copy of object

Implemented in ThetaStar, and DirectPlanner.

virtual bool PathPlanner::CreateGlobalPath ( )

pure virtual

Abstract method. Should finds path from global start to global goal position.

Returns

Success of pathfinding.

Implemented in ThetaStar, and DirectPlanner.

virtual bool PathPlanner::GetNext ( const Point &  curr, Point &  next  )

pure virtual

Abstract method. Should returns current goal of agent.

Parameters

[in]	curr	Current position of agent.
[out]	next	Current goal of agent.

Implemented in ThetaStar, and DirectPlanner.

PathPlanner& PathPlanner::operator= ( const PathPlanner &  obj )

inline

Assignment operator.

Parameters

obj	Object to assign.

Returns

Reference to assigned object.

Definition at line 75 of file PathPlanner.h.

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The documentation for this class was generated from the following file:

• PathPlanner.h