Extenders_UseCase.cpp

This is an example of how to use the extender methods.

void ExtendersUseCase() {
  // The entender generates a new configuration to grow a path from startCfg in
  // the direction of goalCfg. If the entender is successful, newCfg will store
  // the newly generated configuration.
  CfgType startCfg, goalCfg, newCfg;
 
  // Not all expansion methods go in straight lines through the configuration
  // space. For non-straight-line extension operations, lp will store the
  // polygonal chain configurations generated by the extension operation.
  LPOutput<MPTraits> lp;
 
  // The extender label is a string that corresponds to the XML node label for
  // the extension algorithm you would like to use.
  std::string exLabel = "KinodynamicExtender";
 
  // The extender object corresponding to a specific extension algorithm is used
  // to run the extension algorithm.
  auto extender = this->GetExtender(exLabel);
 
  // The Extend method of an extender object runs the extension algorithm to
  // generate a new configuration along the path from the start to the goal
  // configuration. If the Extend operation is successful, it returns true,
  // otherwise it returns false.
  bool pass = extender->Extend(startCfg, goalCfg, newCfg, lp);
}