apollo::planning::HybridAStar Class Reference

#include <hybrid_a_star.h>

Collaboration diagram for apollo::planning::HybridAStar:

Public Member Functions
	HybridAStar (const PlannerOpenSpaceConfig &open_space_conf)
virtual	~HybridAStar ()=default
bool	Plan (double sx, double sy, double sphi, double ex, double ey, double ephi, const std::vector< double > &XYbounds, const std::vector< std::vector< common::math::Vec2d >> &obstacles_vertices_vec, HybridAStartResult *result)
bool	TrajectoryPartition (const HybridAStartResult &result, std::vector< HybridAStartResult > *partitioned_result)

Constructor & Destructor Documentation

HybridAStar()

apollo::planning::HybridAStar::HybridAStar ( const PlannerOpenSpaceConfig &  open_space_conf )

explicit

~HybridAStar()

virtual apollo::planning::HybridAStar::~HybridAStar ( )

virtualdefault

Member Function Documentation

Plan()

bool apollo::planning::HybridAStar::Plan	(	double	sx,
		double	sy,
		double	sphi,
		double	ex,
		double	ey,
		double	ephi,
		const std::vector< double > &	XYbounds,
		const std::vector< std::vector< common::math::Vec2d >> &	obstacles_vertices_vec,
		HybridAStartResult *	result
	)

TrajectoryPartition()

bool apollo::planning::HybridAStar::TrajectoryPartition	(	const HybridAStartResult &	result,
		std::vector< HybridAStartResult > *	partitioned_result
	)

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

• modules/planning/open_space/coarse_trajectory_generator/hybrid_a_star.h