Path planning and search algorithms (A*, Dijkstra, etc.) More...

Collaboration diagram for Planning:

Classes
class	AStar< T >
	Flexible A* pathfinding algorithm for any map implementing IMap<T> and using Coordinate<T> nodes. More...

class	Dijkstra< T >
	Generic Dijkstra shortest path algorithm for graphs/maps with callback-based cost and validity. More...

class	FrontierExplorer< T >
	Generic exploration and frontier-based SLAM utility for grid or occupancy maps. More...

interface	IFrontierExplorer< T >
	Interface for frontier-based exploration utilities. More...

class	ScheduledWayPoint< CoordinateT >
	Represents a waypoint with an associated timestamp. More...

class	WayPointAndSpeed< CoordinateT >
	Represents a waypoint with an associated speed. More...

class	Path< CoordinateT, AllocatorT >
	A simple path class that holds a sequence of waypoints. Each waypoint is e.g. a coordinate (e.g., x,y,z) that the robot should follow. The path can be used for navigation, motion planning, or trajectory execution. It provides methods to add waypoints. More...

Enumerations
enum class	FrontierSelectionStrategy { RANDOM , NEAREST , FARTHEST , FIRST , LAST , SWITCH_FIRST_LAST , CUSTOM }
	Strategy for selecting the next frontier cell to explore. Used by `FrontierExplorer` to determine how the next exploration frontier is chosen. More...

Detailed Description

Path planning and search algorithms (A*, Dijkstra, etc.)

Enumeration Type Documentation

strong

Strategy for selecting the next frontier cell to explore. Used by FrontierExplorer to determine how the next exploration frontier is chosen.

Enumerator
RANDOM	Randomly select a frontier cell.
NEAREST	Select the frontier cell closest to the robot.
FARTHEST	Select the frontier cell farthest from the robot.
FIRST	Select the first frontier cell found (e.g., in scan order)
LAST	Select the last frontier cell found.
SWITCH_FIRST_LAST	Alternate between first and last on each call.
CUSTOM	Use a user-defined callback to select the frontier.