Procedure for creating a plan

[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.

[arjo129]

I'm not exactly sure what you are asking for. The planning code resides here: https://github.com/open-rmf/rmf_traffic/blob/main/rmf_traffic/include/rmf_traffic/agv/Planner.hpp.

[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: https://github.com/open-rmf/rmf_traffic/blob/main/rmf_traffic/src/rmf_traffic/agv/planning/DifferentialDrivePlanner.cpp
Sorry again, Maybe I didn't describe it clearly!!!Thank you for your reply!!!