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hydropathplan::SparseSkeletonPathPlanner Class Reference Similar to SkeletonPathPlanner, but faster. More... #include <sparseskeletonpathplanner.h> Inherits hydropathplan::IPathPlanner2d. Inheritance diagram for hydropathplan::SparseSkeletonPathPlanner: [legend]List of all members. Public Member Functions   SparseSkeletonPathPlanner (const hydroogmap::OgMap &ogMap, double robotDiameterMetres, double traversabilityThreshhold, bool doPathOptimization, bool addExtraNodes, double extraNodeResolution, const CostEvaluator &costEvaluator=DefaultCostEvaluator()) void  computePath (int startX, int startY, int endX, int endY, Cell2DVector &path) const Detailed Description Similar to SkeletonPathPlanner, but faster. Works by taking the output of Skeleton path planning, and extracting a set of nodes (ie junctions in the skeleton). Plans using this sparse set of nodes (and links between them) rather than the full skeleton, which is much faster. Author: Alex Brooks Constructor & Destructor Documentation hydropathplan::SparseSkeletonPathPlanner::SparseSkeletonPathPlanner (  const hydroogmap::OgMap &  ogMap, double  robotDiameterMetres, double  traversabilityThreshhold, bool  doPathOptimization, bool  addExtraNodes, double  extraNodeResolution, const CostEvaluator &  costEvaluator = DefaultCostEvaluator() )    Warning: may throw 'hydropathplanException's Member Function Documentation void hydropathplan::SparseSkeletonPathPlanner::computePath (  int  startX, int  startY, int  endX, int  endY, Cell2DVector &  path )  const [virtual]   The cells in 'path' are guaranteed to be in line-of-sight of one another, but are not guaranteed to be adjacent to one another. Warning: may throw 'hydropathplanException's Implements hydropathplan::IPathPlanner2d. The documentation for this class was generated from the following files: sparseskeletonpathplanner.h sparseskeletonpathplanner.cpp

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