Procedure for creating a plan (#381)

Open-RMF Open-RMF General
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Posted by @shufujian:

I am learning plan and dependency. I learned that the process of plan generation is similar to the algorithm in a paper. I briefly learned the algorithm, but could not find the corresponding part of the code.
I want to know if the plan is generated directly using Planner.plan(). Then generate PlanData along the call relationship, get the Result in the end.

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Posted by @arjo129:

I’m not exactly sure what you are asking for. The planning code resides here: rmf_traffic/rmf_traffic/include/rmf_traffic/agv/Planner.hpp at main · open-rmf/rmf_traffic · GitHub.

Edited by @arjo129 at 2023-07-28T08:40:42Z

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Posted by @shufujian:

Sorry for the confusion in the description of my question.
I’m just wondering what was the main thing that was called when we first started planning the path for the participants.
Does it call the method in this file: rmf_traffic/rmf_traffic/src/rmf_traffic/agv/planning/DifferentialDrivePlanner.cpp at main · open-rmf/rmf_traffic · GitHub
Sorry again, Maybe I didn’t describe it clearly!!!Thank you for your reply!!!