BaseArnl: ArGlobalReplanningRangeDevice Class Reference

- Main Page
- Classes
- Related Pages
- Examples

- Class List
- Class Hierarchy
- Class Members

# ArGlobalReplanningRangeDevice Class Reference

`#include <ArPathPlanningTask.h>`

List of all members.

## Detailed Description

This is the range device which can hold global information which can then be used to replan a path when the robot finds a block in a planned path. Unlike other approaches where the robot just replan again from the blocked pose using just the local information, this structure will hold the blocks in memory until the goal is reached. This will avoid cases where the robot will shuttle between two closed doors in an attempt to get inside a room.

Examples:

  justPathPlanning.cpp.