pathplanner::Pathfinder Class Reference

Inheritance diagram for pathplanner::Pathfinder:

Public Member Functions
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()

virtual std::shared_ptr< PathPlannerPath > pathplanner::Pathfinder::getCurrentPath ( PathConstraints  constraints, GoalEndState  goalEndState  )

pure virtual

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

Implemented in pathplanner::LocalADStar.

isNewPathAvailable()

virtual bool pathplanner::Pathfinder::isNewPathAvailable ( )

pure virtual

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

Returns

True if a new path is available

Implemented in pathplanner::LocalADStar.

setDynamicObstacles()

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

pure virtual

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

Implemented in pathplanner::LocalADStar.

setGoalPosition()

virtual void pathplanner::Pathfinder::setGoalPosition ( const frc::Translation2d &  goalPosition )

pure virtual

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.

Implemented in pathplanner::LocalADStar.

setStartPosition()

virtual void pathplanner::Pathfinder::setStartPosition ( const frc::Translation2d &  startPosition )

pure virtual

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.

Implemented in pathplanner::LocalADStar.

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

• src/main/native/include/pathplanner/lib/pathfinding/Pathfinder.h