A structure to specify the space, endpoints, and cost function of a motion planning problem. More...

Public Member Functions
	MotionPlanningProblem (CSpace *space, const Config &a, const Config &b)
	Create a point-to-point problem.

	MotionPlanningProblem (CSpace space, const Config &a, CSet goalSet)
	Create a point-to-set problem.

	MotionPlanningProblem (CSpace space, CSet startSet, CSet *goalSet)
	Create a set-to-set problem.

	MotionPlanningProblem (CSpace space, const Config &a, void objective)
	Create an initial value problem (placeholder – objectives not done yet)

Public Attributes
CSpace *	space

Config	qstart
	Non-empty if the start/end point is given.

Config	qgoal

CSet *	startSet
	Non-NULL if the start/end point must be in a given set.

CSet *	goalSet

void *	objective
	Placeholder – objectives not done yet.

Detailed Description

A structure to specify the space, endpoints, and cost function of a motion planning problem.

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

Public Member Functions