Orca Robotics

00001 #ifndef PATHPLANNER_PATHPLANNERFACTORY_H
00002 #define PATHPLANNER_PATHPLANNERFACTORY_H
00003 
00004 #include <orcaice/context.h>
00005 #include <hydroutil/hydroutil.h>
00006 #include <hydroogmap/hydroogmap.h>
00007 #include <hydropathplan/hydropathplan.h>
00008 
00009 namespace pathplanner {
00010 
00011 //
00012 // @author Alex Brooks
00013 //
00014 class PathPlannerFactory
00015 {
00016 
00017 public: 
00018 
00019     // Need the context to set up skeleton graphics
00020     PathPlannerFactory( const orcaice::Context &context )
00021         : orcaIceContext_(context)
00022         {}
00023 
00024     // Allocates memory.
00025     hydropathplan::IPathPlanner2d *getPathPlanner( hydroogmap::OgMap  &ogMap, 
00026                                                    double              traversabilityThreshhold,
00027                                                    double              robotDiameterMetres,
00028                                                    hydroutil::Context  context );
00029 
00030 private: 
00031 
00032     orcaice::Context orcaIceContext_;
00033 
00034 };
00035 
00036 }
00037 
00038 #endif
pathplannerfactory.h
