LocalPlanner_UseCase.cpp

This is an example of how to use the local planner methods.

void LocalPlannerUseCase() {
  // Get the local planner method by the XML node label.
  std::string lpLabel = "StraightLine";
  LocalPlannerMethod* localPlanner = this->GetLocalPlanner(lpLabel);
 
  // The environment defines properties of the planning problem workspace. This
  // is nessecary within the context of the LocalPlanner as to provide the
  // positional and orientational resolutions on a configuration's degrees of
  // freedom.
  Environment* env = this->GetEnvironment();
 
  // c1 and c2 are the configurations that will be queried for a connecting path
  // in both main functions. col is the witness configuration if a path cannot
  // be determined by the function IsConnected(failure).
  CfgType c1, c2, col;
 
  // lpOut is an abstraction that will be populated with various information
  // regarding the attempted path upon being called by IsConnected.
  // Functions as a secondary output.
  LPOutput<MPTraits> lpOut;
 
  // IsConnected is the main function of LocalPlanner, and takes in all of the
  // above information in attempting to solve for a path between the two
  // provided configurations. Returns true if a path is found, false otherwise;
  // additional information is stored within the provided LPOutput..
  localPlanner->IsConnected(c1, c2, col, &lpOut, env->GetPositionRes(),
      env->GetOrientationRes());
 
 
  // BlindPath is a secondary main function of LocalPlanner, taking in the above
  // information to build and return a path from one configuration to another.
  // It does not use collision checking, and as such is best utilized for
  // recomputing and working with pre-validated paths and path waypoints.
  // Returns a vector of intermediate configurations connecting the given
  // endpoints (excluding endpoints).
  localPlanner->BlindPath({c1, c2}, env->GetPositionRes(),
      env->GetOrientationRes());
}