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sm.SM --+ | ReplannerWithDynamicMapAndGoal
This replanner state machine has a dynamic map and a dynamic goal,
both of which are inputs to the state machine. Input to the machine is a
structure (goal, (map, sensors))
, where map
is
an instance of a subclass of gridMap.GridMap
,
goal
is an instance of util.Point
, and
sensors
is an instance of io.SensorInput
;
output is an instance of util.Point
, representing the
desired next subgoal. The planner should guarantee that a straight-line
path from the current pose to the output pose is collision-free in the
current map.
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Default version of this method. If a subclass only defines
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