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orca::PathPlanner2d Class Reference [PathPlanner2d] Planning a path in 2D. More... Inherited by pathplanner::PathPlanner2dI. List of all members. Public Member Functions int  setTask (PathPlanner2dTask task) throw ( BusyException, RequiredInterfaceFailedException) PathPlanner2dData  getData ())   Returns the most-recently-computed computed path. void  subscribe (PathPlanner2dConsumer *subscriber) throw ( SubscriptionFailedException) void  unsubscribe (PathPlanner2dConsumer *subscriber)) Detailed Description Planning a path in 2D. PathPlanner is an interface that accepts a task consisting of a coarse path with the first entry being the starting waypoint. It serves the computed fine-grained path to the consumer via proxy. "setTask" returns the number of tasks in queue ahead of this new task. The second method of accessing the computed path is to use the getData method. The third method is via subscribe. These two methods are used when a component wants direct access to the currently computed path rather than a one-shot task-specific result (e.g. a GUI). Member Function Documentation int orca::PathPlanner2d::setTask ( PathPlanner2dTask  task  )  throw ( BusyException, RequiredInterfaceFailedException) Set a task. Returns the number of tasks currently in the queue (not including the one which was just set). void orca::PathPlanner2d::subscribe ( PathPlanner2dConsumer *  subscriber  )  throw ( SubscriptionFailedException) Mimics IceStorm's subscribe(). The implementation may choose to implement the push directly or use IceStorm. This choice is transparent to the subscriber. Parameters: subscriber  The subscriber's proxy. See also: unsubscribe void orca::PathPlanner2d::unsubscribe ( PathPlanner2dConsumer *  subscriber  )  Unsubscribe the given [subscriber]. Parameters: subscriber  The proxy of an existing subscriber. See also: subscribe The documentation for this class was generated from the following file: pathplanner2d.ice

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