Base class for graph based path planning / homotopy class sampling. More...
#include <graph_search.h>
Public Member Functions  
void  clearGraph () 
Clear any existing graph of the homotopy class search. More...  
virtual void  createGraph (const PoseSE2 &start, const PoseSE2 &goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist *start_velocity)=0 
Public Attributes  
HcGraph  graph_ 
Store the graph that is utilized to find alternative homotopy classes. More...  
Protected Member Functions  
void  DepthFirst (HcGraph &g, std::vector< HcGraphVertexType > &visited, const HcGraphVertexType &goal, double start_orientation, double goal_orientation, const geometry_msgs::Twist *start_velocity) 
Depth First Search implementation to find all paths between the start and the specified goal vertex. More...  
GraphSearchInterface (const TebConfig &cfg, HomotopyClassPlanner *hcp)  
Protected constructor that should be called by subclasses. More...  
Protected Attributes  
const TebConfig *  cfg_ 
Config class that stores and manages all related parameters. More...  
HomotopyClassPlanner *const  hcp_ 
Raw pointer to the HomotopyClassPlanner. The HomotopyClassPlanner itself is guaranteed to outlive the graph search class it is holding. More...  
Base class for graph based path planning / homotopy class sampling.
Definition at line 107 of file graph_search.h.

inlineprotected 
Protected constructor that should be called by subclasses.
Definition at line 126 of file graph_search.h.

inline 
Clear any existing graph of the homotopy class search.
Definition at line 116 of file graph_search.h.

pure virtual 
Implemented in teb_local_planner::ProbRoadmapGraph, and teb_local_planner::lrKeyPointGraph.

protected 
Depth First Search implementation to find all paths between the start and the specified goal vertex.
Complete paths are stored to the internal path container.
g  Graph on which the depth first should be performed 
visited  A container that stores visited vertices (pass an empty container, it will be filled inside during recursion). 
goal  Desired goal vertex 
start_orientation  Orientation of the first trajectory pose, required to initialize the trajectory/TEB 
goal_orientation  Orientation of the goal trajectory pose, required to initialize the trajectory/TEB 
start_velocity  start velocity (optional) 
Examine adjacent nodes
Recursion for all adjacent vertices
Definition at line 45 of file graph_search.cpp.

protected 
Config class that stores and manages all related parameters.
Definition at line 144 of file graph_search.h.
HcGraph teb_local_planner::GraphSearchInterface::graph_ 
Store the graph that is utilized to find alternative homotopy classes.
Definition at line 120 of file graph_search.h.

protected 
Raw pointer to the HomotopyClassPlanner. The HomotopyClassPlanner itself is guaranteed to outlive the graph search class it is holding.
Definition at line 145 of file graph_search.h.