# OMPL Plannification: Class Hierarchy

Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

Checking_Box | Collision Mask : virtual representation of the drone as a box with x,y,z length
LaserScanToPointCloud | CLASS DEFINITION ===========================================================
object |
controller_quadrotor.Controller |
controller_turtlebot.Controller |
OMPL_Planner | Class for planner for 2D and 3D planning
ROS_OMPL_Planner | ROS implementation class for OMPL_Planner
StateValidityChecker |
StateChecker | Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?)