Class PlannerMethodBase

• Defined in File PlannerMethodBase.hpp

Inheritance Relationships

Base Type

• public easynav::MethodBase (Class MethodBase)

Class Documentation

class PlannerMethodBase : public easynav::MethodBase

Abstract base class for path planning methods in Easy Navigation.

This class defines the interface for implementing planning algorithms. Derived classes must implement the update and get_path methods.

Public Functions

PlannerMethodBase() = default

Default constructor.

virtual ~PlannerMethodBase() = default

Virtual destructor.

void internal_update(NavState &nav_state)

Helper to run the planner update if it is time.

Parameters:

nav_state – The current state of the navigation system.

void force_update(NavState &nav_state)

Helper to run the planner update independently if it is time.

Parameters:

nav_state – The current state of the navigation system.

Protected Functions

virtual void update(NavState &nav_state) = 0

Run the path planning algorithm and update the route.

Called periodically by the system to compute or refine a navigation path.

Parameters:

nav_state – The current state of the navigation system.