ThetaStar class implements Theta* algorithm, which creates path from start to goal position. More...

#include <ThetaStar.h>

Inheritance diagram for ThetaStar:

Public Member Functions
ThetaStar *	Clone () const override
	Method for cloning inheritors objects. Creates copy of object in memmory and return pointer to copy. More...

bool	CreateGlobalPath () override
	Finds path from global start to global goal position using Theta* algorithm. More...

bool	GetNext (const Point &curr, Point &next) override
	Returns current goal of agent from global path. More...

ThetaStar &	operator= (const ThetaStar &obj)
	Assignment operator. More...

	ThetaStar (const Map &map, const EnvironmentOptions &options, const Point &start, const Point &goal, const float &radius)
	ThetaStar constructor with parametes. More...

	ThetaStar (const ThetaStar &obj)
	ThetaStar copy constructor. More...

	~ThetaStar () override
	ThetaStar destructor. More...

Public Member Functions inherited from PathPlanner
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

ThetaStar class implements Theta* algorithm, which creates path from start to goal position.

Definition at line 22 of file ThetaStar.h.

Constructor & Destructor Documentation

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

ThetaStar 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 9 of file ThetaStar.cpp.

ThetaStar::ThetaStar ( const ThetaStar & obj )

ThetaStar copy constructor.

Parameters

obj	Object to copy.

Definition at line 21 of file ThetaStar.cpp.

ThetaStar::~ThetaStar ( )

override

ThetaStar destructor.

Definition at line 33 of file ThetaStar.cpp.

Member Function Documentation

ThetaStar * ThetaStar::Clone ( ) const

overridevirtual

Method for cloning inheritors objects. Creates copy of object in memmory and return pointer to copy.

Returns: Pointer to copy of object

Implements PathPlanner.

Definition at line 353 of file ThetaStar.cpp.

bool ThetaStar::CreateGlobalPath ( )

overridevirtual

Finds path from global start to global goal position using Theta* algorithm.

Returns: Success of pathfinding.

Implements PathPlanner.

Definition at line 325 of file ThetaStar.cpp.

bool ThetaStar::GetNext	(	const Point &	curr,
		Point &	next
	)

overridevirtual

Returns current goal of agent from global path.

Parameters

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

Implements PathPlanner.

Definition at line 36 of file ThetaStar.cpp.

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

Assignment operator.

Parameters

obj	Object to assign.

Returns: Reference to assigned object.

Definition at line 338 of file ThetaStar.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation