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 ORCA_PATHPLANNER_DRIVER_H
00011 #define ORCA_PATHPLANNER_DRIVER_H
00012 
00013 #include <orcaice/orcaice.h>
00014 #include <orca/pathplanner2d.h>
00015 #include <hydroogmap/hydroogmap.h>
00016 #include <hydropathplan/hydropathplan.h>
00017 #include <vector>
00018 
00019 namespace pathplanner {
00020 
00021 //
00022 // @author Alex Brooks, Tobias Kaupp
00023 //
00024 class Driver
00025 {
00026 
00027 public: 
00028 
00029     Driver( hydropathplan::IPathPlanner2d &pathPlanner,
00030             const hydroogmap::OgMap       &ogMap,
00031             double                        robotDiameterMetres,
00032             double                        traversabilityThreshhold,
00033             bool                          jiggleWaypointsOntoClearCells,
00034             const orcaice::Context       &context );
00035     
00036     void computePath( const orca::PathPlanner2dTask &task,
00037                       orca::Path2d                  &path );
00038 
00039 private: 
00040 
00041     hydropathplan::Cell2DVector computePathSegment( double startX,
00042                                                     double startY,
00043                                                     double endX,
00044                                                     double endY );
00045 
00046     void jiggleOntoClearCells( orca::Path2d &path );
00047 
00048     hydropathplan::IPathPlanner2d  &pathPlanner_;
00049     const hydroogmap::OgMap        &ogMap_;
00050     hydroogmap::OgMap               grownOgMap_;
00051     
00052     double traversabilityThreshhold_;
00053     
00054     orca::Path2d jiggledPath_;
00055     
00056     bool jiggleWaypointsOntoClearCells_;
00057     const orcaice::Context context_;
00058 };
00059 
00060 }
00061 
00062 #endif
pathplanner/driver.h
