PathPlanner2dAcfr
[PathPlanner2d drivers, C++, Linux]

An implementation of several classic path-planning algorithms. More...

An implementation of several classic path-planning algorithms.

computePath() returns a vector of waypoints dependent on the selected algorithm.

Configuration

• Acfr.Algorithm (string)
  • Valid options: {"simplenav", "astar", "skeletonnav", "sparseskeletonnav" }
  • Default: "simplenav"
• Acfr.DoPathOptimization (bool)
  • Default: 0
• Acfr.TraversabilityThreshhold (double)
  • Default: 0.3
• Acfr.RobotDiameterMetres (double)
  • Units: meters
  • Default: 0.8

Additional configuration parameters for "skeletonnav" and "sparseskeletonnav" drivers:

• Acfr.Skeleton.Cost.DistanceThreshold (double)
  • Units: meters
  • Default: 0.8
• Acfr.Skeleton.Cost.CostMultiplier (double)
  • Default: 10

Dependencies.

• libHydroPathPlan