• The path planner is a path generation module, it computes a path from point A to B using a map as parameter. It does NOT have a way to execute or follow the path. You have to build it. The benefit is that you can use our path planner for what-if questions or to compute travel time or anything else.
• The inputs for the path planner are:
  • OccupancyGrid (generally generated by our mapper module)
  • Starting position
  • Goal position
• Here is a extract from our sample code:

   

  // set the map
  pPathPlanner->SetOccupancyGrid(pGrid);
  
  // set the start pose
  pPathPlanner->SetStart(Pose3(Vector3(0,0,0),0));
  
  // set the goal
  pPathPlanner->SetEnd(goal);
  
  // compute the global path
  pPathPlanner->ComputeGlobalPath();
  
  // here is a way to get the Path
  std::vector<kt::Pose3> path = pPathPlanner->GetGlobalPath();
  std::vector<kt::Pose3>::iterator itP;
  for (itP = path.begin() ; itP != path.end() ; itP++) {
  std::cout << "\t next: (" <<
  (*itP).GetPosition().Z() << " , "
  <<
  (*itP).GetPosition().X() << ")\n";
  }