class mrpt::nav::PlannerTPS_VirtualBase

Virtual base class for TP-Space-based path planners.

#include <mrpt/nav/planners/PlannerRRT_common.h>

class PlannerTPS_VirtualBase
{
public:
    // structs

    struct TRenderPlannedPathOptions;

    //
fields

    RRTEndCriteria end_criteria;

    // construction

    PlannerTPS_VirtualBase();

    //
methods

    mrpt::system::CTimeLogger& getProfiler();
    const mrpt::nav::TListPTGPtr& getPTGs() const;

    template <typename node_pose_t, typename world_limits_t, typename tree_t>
    void renderMoveTree(
        mrpt::opengl::Scene& scene,
        const TPlannerInputTempl<node_pose_t, world_limits_t>& pi,
        const TPlannerResultTempl<tree_t>& result,
        const TRenderPlannedPathOptions& options
        );
};

// direct descendants

class PlannerRRT_SE2_TPS;

Construction

PlannerTPS_VirtualBase()

ctor