23 #ifndef __PLUGINS_COLLI_SEARCH_ASTAR_SEARCH_H_ 24 #define __PLUGINS_COLLI_SEARCH_ASTAR_SEARCH_H_ 26 #include "abstract_search.h" 36 class LaserOccupancyGrid;
41 typedef struct point_struct
point_t;
54 void update(
int robo_x,
int robo_y,
int target_x,
int target_y );
57 bool updated_successful();
60 std::vector<point_t>* get_plan();
68 point_t calculate_local_target();
74 point_t calculate_local_trajec_point( );
77 bool is_obstacle_between(
const point_t &a,
const point_t &b,
const int maxcount );
81 std::vector< point_t > plan_;
83 point_t robo_position_, target_position_;
84 bool updated_successful_;
85 int cfg_search_line_allowed_cost_max_;
struct fawkes::point_struct point_t
Point with cartesian coordinates as signed integers.
Fawkes library namespace.
This is the abstract search interpretation class for an arbitrary search algorithm to find its way th...
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
Point with cartesian coordinates as signed integers.
Interface for configuration handling.