Planner based on trajectory optimization. More...

Public Member Functions
	GreedyCost (graph G, int(stop_func)(), void(*draw_func)())

bool	run ()

void	createVectorLocalPath ()

int	strait (Node &expansionNode, std::tr1::shared_ptr< Configuration > directionConfig, Node *directionNode, Env::expansionMethod method, bool toGoal)

void	optimizePhaze ()

void	optimizeLinear ()

void	shortCutLinear ()

bool	checkStopConditions ()

int	getOptimFail ()

int	getOptimSuccess ()

Detailed Description

Planner based on trajectory optimization.

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

Public Member Functions