PathFinder class.
Macros:
Enumerations:
None.
Typedefs:
None.
Struct CapyPath :
Struct CapyPath's properties:
Number of steps in the path
Indices of the points (array of nbStep+1 elements) forming the path from start to end
Sum of traversed link's weight
Struct CapyPath's methods:
Destructor
Struct CapyPathFinder :
Struct CapyPathFinder's properties:
None.
Struct CapyPathFinder's methods:
Destructor
Search the path in a CapyPointCloud using the A* algorithm Inputs: pointCloud: the searched point cloud iPointFrom: the start point of the path iPointTo: the end point of the path
Output and side effect(s):
Return a CapyPath, eventually with nbStep=0 if no path could be found. The returned path minimised the links' weight. Uses CapyPointCloud.estimateWeightPath() as a heuristic.
Functions:
Create a CapyPath
Output and side effect(s):
Return a CapyPath
Create a CapyPathFinder
Output and side effect(s):
Return a CapyPathFinder
Allocate memory for a new CapyPathFinder and create it
Output and side effect(s):
Return a CapyPathFinder
Exception(s):
May raise CapyExc_MallocFailed.
Free the memory used by a CapyPathFinder* and reset '*that' to NULL
Input argument(s):
that: a pointer to the CapyPathFinder to free