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 SKELETONPATHPLANNER_H
00011 #define SKELETONPATHPLANNER_H
00012 
00013 #include <hydropathplan/ipathplanner2d.h>
00014 #include <hydropathplan/util.h>
00015 #include <hydroogmap/hydroogmap.h>
00016 
00017 namespace hydropathplan {
00018 
00022 class SkeletonPathPlanner : public IPathPlanner2d
00023 {
00024 
00025 public: 
00026 
00030     SkeletonPathPlanner( const hydroogmap::OgMap &ogMap,
00031                          double robotDiameterMetres,
00032                          double traversabilityThreshhold,
00033                          bool   doPathOptimization,
00034                          const CostEvaluator &costEvaluator=DefaultCostEvaluator() );
00035 
00039     virtual void computePath( int           startX,
00040                               int           startY,
00041                               int           endX,
00042                               int           endY,
00043                               Cell2DVector &path ) const;
00044 
00045     // Useful for debugging.
00046     const Cell2DVector &skeleton()   const { return skel_; }
00047     const FloatMap     &distGrid()   const { return distGrid_; }
00048 
00049 private: 
00050 
00051     void checkInputs( int           startX,
00052                       int           startY,
00053                       int           endX,
00054                       int           endY ) const;
00055 
00056     const hydroogmap::OgMap &ogMap_;
00057 
00058     FloatMap     costMap_;
00059     Cell2DVector skel_;
00060     FloatMap     distGrid_;
00061 
00062     const double robotDiameterMetres_;
00063     const double traversabilityThreshhold_;
00064     const bool   doPathOptimization_;
00065 };
00066 
00067 }
00068 
00069 #endif
skeletonpathplanner.h
