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 IPATHPLANNER2D_H
00011 #define IPATHPLANNER2D_H
00012 
00013 #include <hydropathplan/util.h>
00014 
00015 namespace hydropathplan {
00016 
00023 class Exception : public std::exception
00024 {
00025 public:
00026 
00027     Exception(const char *message)
00028         : message_(message)
00029         {}
00030     Exception(const std::string &message)
00031         : message_(message)
00032         {}
00033     
00034     virtual ~Exception() throw() {}
00035     virtual const char* what() const throw() { return message_.c_str(); }
00036 
00037     void prependMsg( const char *msg )
00038         { message_ = msg + message_; }
00039 
00040     void prependMsg( const std::string &msg )
00041         { message_ = msg + message_; }
00042 
00043 protected:
00044 
00045     std::string  message_;
00046 };
00047 
00048 class PathStartNotValidException : public Exception
00049 {
00050     public:
00051         PathStartNotValidException(const char *message)
00052             : Exception( std::string("PathStartNotValid: ")+message )
00053         {}
00054 };
00055 
00056 class PathDestinationNotValidException : public Exception
00057 {
00058     public:
00059         PathDestinationNotValidException(const char *message)
00060             : Exception( std::string("PathDestinationNotValid: ")+message )
00061         {}
00062 };
00063 
00064 class PathDestinationUnreachableException : public Exception
00065 {
00066     public:
00067         PathDestinationUnreachableException(const char *message)
00068             : Exception( std::string("PathDestinationUnreachable: ")+message )
00069         {}
00070 };
00071 
00072 
00073 
00074 
00080 class IPathPlanner2d
00081 {
00082 
00083 public: 
00084 
00085     virtual ~IPathPlanner2d() {};
00086 
00087     //
00088     // Compute the path from 'start' to 'end'.
00089     // NOTE: Everything is done in cells (not world-coordinates).
00090     //
00091     // The computed path is not necessarily a set of contiguous cells.
00092     //
00093     // Warning: may throw 'hydropathplan::Exception's
00094     //
00095     virtual void computePath( int           startX,
00096                               int           startY,
00097                               int           endX,
00098                               int           endY,
00099                               Cell2DVector &path ) const = 0;
00100 
00101 private: 
00102 
00103 };
00104 
00105 }
00106 
00107 #endif
ipathplanner2d.h
