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 SIMPLENAVPATHPLANNER_H
00011 #define SIMPLENAVPATHPLANNER_H
00012 
00013 #include <hydropathplan/ipathplanner2d.h>
00014 #include <hydropathplan/util.h>
00015 #include <hydroogmap/hydroogmap.h>
00016 
00017 namespace hydropathplan {
00018 
00025 class SimpleNavPathPlanner : public IPathPlanner2d
00026 {
00027 
00028 public: 
00029 
00030     SimpleNavPathPlanner( const hydroogmap::OgMap &ogMap,
00031                           double robotDiameterMetres,
00032                           double traversabilityThreshhold,
00033                           bool   doPathOptimization );
00034 
00038     virtual void computePath( int           startX,
00039                               int           startY,
00040                               int           endX,
00041                               int           endY,
00042                               Cell2DVector &path ) const;
00043 
00044 private: 
00045 
00046     void checkInputs( int           startX,
00047                       int           startY,
00048                       int           endX,
00049                       int           endY ) const;
00050 
00051     const hydroogmap::OgMap &ogMap_;
00052 
00053     const double robotDiameterMetres_;
00054     const double traversabilityThreshhold_;
00055     const bool   doPathOptimization_;
00056 };
00057 
00058 }
00059 
00060 #endif
simplenavpathplanner.h
