GeoPlanner.hpp File Reference

Example file for testing and demonstrating the GeoPlanner and LiDARHandler. More...

#include "../../../src/algorithms/planners/GeoPlanner.h"
#include "../../../src/handlers/LiDARHandler.h"
#include "../../../src/util/ExampleChecker.h"

Include dependency graph for GeoPlanner.hpp:

Go to the source code of this file.

Functions
void	RunExample ()
	Example function to demonstrate the usage of LiDARHandler.

Detailed Description

Example file for testing and demonstrating the GeoPlanner and LiDARHandler.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-07-31

Copyright

Copyright Mars Rover Design Team 2025 - All Rights Reserved

Function Documentation

RunExample()

void RunExample

(

)

Example function to demonstrate the usage of LiDARHandler.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om), Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2025-05-20

{
    // Create and initialize handler
    std::unique_ptr<LiDARHandler> pLiDARHandler = std::make_unique<LiDARHandler>();
    if (!pLiDARHandler->OpenDB("../data/LiDAR/data/databases/Fugitive.db"))
    {
        std::cerr << "Failed to initialize LiDARHandler.\n";
        return;
    }
 
    // Create and initialize the GeoPlanner.
    std::unique_ptr<pathplanners::GeoPlanner> pPlanner = std::make_unique<pathplanners::GeoPlanner>(50);
 
    geoops::UTMCoordinate stStart{614019.79, 4190069.29, 15, true};
    geoops::UTMCoordinate stEnd{614224.72, 4189924.76, 15, true};
 
    std::vector<geoops::Waypoint> vPath = pPlanner->PlanPath(pLiDARHandler.get(), stStart, stEnd, 1000.0, 5.0, 0.0, true);
 
    // Print the number of waypoints in the path.
    std::cout << "Planned path with " << vPath.size() << " waypoints." << std::endl;
}

Here is the caller graph for this function: