Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef ASTAR_PATHPLANNER_H
00011 #define ASTAR_PATHPLANNER_H
00012 
00013 #include <hydropathplan/ipathplanner2d.h>
00014 #include <hydropathplan/hydropathplan.h>
00015 #include <hydroogmap/hydroogmap.h>
00016 
00017 namespace hydropathplan {
00018 
00019 // fwd decl
00020 namespace astar {
00021     class AStar;
00022 }
00023 
00027 class AStarPathPlanner : public IPathPlanner2d
00028 {
00029 
00030 public: 
00031 
00032     AStarPathPlanner( const hydroogmap::OgMap ogMap,
00033                       double robotDiameterMetres,
00034                       double traversabilityThreshhold,
00035                       bool   doPathOptimization );
00036 
00037     ~AStarPathPlanner();
00038 
00042     virtual void computePath( int           startX,
00043                               int           startY,
00044                               int           endX,
00045                               int           endY,
00046                               Cell2DVector &path ) const;
00047 
00048 private: 
00049 
00050     void checkInputs( int           startX,
00051                       int           startY,
00052                       int           endX,
00053                       int           endY ) const;
00054 
00055     hydroogmap::OgMap             ogMap_;
00056     hydropathplan::astar::AStar  *aStar_;
00057 
00058     const double robotDiameterMetres_;
00059     const double traversabilityThreshhold_;
00060     const bool   doPathOptimization_;
00061 };
00062 
00063 }
00064 
00065 #endif
astarpathplanner.h
