Define the GeoPlanner class. More...

#include "../../handlers/LiDARHandler.h"
#include "../../util/GeospatialOperations.hpp"

Include dependency graph for GeoPlanner.h:

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Classes
class	pathplanners::GeoPlanner
	This class implements a geospatial path planner that uses a discrete 2.5D Costmap and a fast Weighted A* algorithm with Kinematic Constraints to find the optimal path through complex terrain between two coordinates. All tunable heuristics and parameters are accessible via constructor initialization. More...

struct	pathplanners::GeoPlanner::GridCell
	Represents a single cell in our 2.5D discretized Costmap grid. This is used to aggregate sparse point cloud data into a unified, easy-to-search surface for the A* algorithm. More...

struct	pathplanners::GeoPlanner::PlannerState
	This struct represents the state of a node in the A* algorithm. Optimized to work with a flat 1D vector instead of a hash map to prevent heavy heap allocations and memory fragmentation. More...

struct	pathplanners::GeoPlanner::PlannerStateCompare
	This struct is used to compare two PlannerState objects based on their cost to properly sort the priority queue. More...

struct	pathplanners::GeoPlanner::TileKey
	This struct represents a tile key in the implicit graph representation. We divide the plan into a regular grid of tiles of size dTileSize*dTileSize meters. More...

struct	pathplanners::GeoPlanner::TileKeyHash
	This struct is used to hash TileKey objects for use in unordered maps. More...

struct	pathplanners::GeoPlanner::TileKeyEqual
	This struct is used to compare two TileKey objects for equality after a hash collision is triggered. More...

Namespaces
namespace	pathplanners
	This namespace stores classes, functions, and structs that are used to implement different path planner algorithms used by the rover to determine the optimal path to take for any given situation.

Detailed Description

Define the GeoPlanner class.

Author: clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Classes