Inheritance diagram for pathplanner::LocalADStar:

Public Member Functions
bool	isNewPathAvailable () override

std::shared_ptr< PathPlannerPath >	getCurrentPath (PathConstraints constraints, GoalEndState goalEndState) override

void	setStartPosition (const frc::Translation2d &start) override

void	setGoalPosition (const frc::Translation2d &goal) override

void	setDynamicObstacles (const std::vector< std::pair< frc::Translation2d, frc::Translation2d > > &obs, const frc::Translation2d &currentRobotPos) override

GridPosition	getGridPos (const frc::Translation2d &pos)

virtual bool	isNewPathAvailable ()=0

virtual std::shared_ptr< PathPlannerPath >	getCurrentPath (PathConstraints constraints, GoalEndState goalEndState)=0

virtual void	setStartPosition (const frc::Translation2d &startPosition)=0

virtual void	setGoalPosition (const frc::Translation2d &goalPosition)=0

virtual void	setDynamicObstacles (const std::vector< std::pair< frc::Translation2d, frc::Translation2d > > &obs, const frc::Translation2d &currentRobotPos)=0

Member Function Documentation

◆ getCurrentPath()

std::shared_ptr< PathPlannerPath > LocalADStar::getCurrentPath	(	PathConstraints	constraints,
		GoalEndState	goalEndState
	)

overridevirtual

Get the most recently calculated path

Parameters

constraints	The path constraints to use when creating the path
goalEndState	The goal end state to use when creating the path

Returns: The PathPlannerPath created from the points calculated by the pathfinder

bool pathplanner::LocalADStar::isNewPathAvailable ( )

inlineoverridevirtual

Get if a new path has been calculated since the last time a path was retrieved

void LocalADStar::setDynamicObstacles	(	const std::vector< std::pair< frc::Translation2d, frc::Translation2d > > &	obs,
		const frc::Translation2d &	currentRobotPos
	)

overridevirtual

Set the dynamic obstacles that should be avoided while pathfinding.

Parameters

obs	A List of Translation2d pairs representing obstacles. Each Translation2d represents opposite corners of a bounding box.
currentRobotPos	The current position of the robot. This is needed to change the start position of the path to properly avoid obstacles

void LocalADStar::setGoalPosition ( const frc::Translation2d & goalPosition )

overridevirtual

Set the goal position to pathfind to

Parameters

goalPosition Goal position on the field. f this is within an obstacle it will be moved to the nearest non-obstacle node.

void LocalADStar::setStartPosition ( const frc::Translation2d & startPosition )

overridevirtual

Set the start position to pathfind from

Parameters

startPosition Start position on the field. If this is within an obstacle it will be moved to the nearest non-obstacle node.

The documentation for this class was generated from the following files: