class

Robotics::GoalPlanning::ForwardPlanner

Inherits Reference < Object

Forward-search planner (BFS) with a cost-bound

Constants

MAX_SEARCH_DEPTH = 20

Constructors

new(actions : Array(Action))

Instance methods

plan(initial_state : WorldState, goal : Goal) : Plan | Nil

Returns the first plan found that achieves the goal from the initial state