Orca Robotics

00001 #if 0
00002 /*
00003  * Orca-Robotics Project: Components for robotics 
00004  *               http://orca-robotics.sf.net/
00005  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00006  *
00007  * This copy of Orca is licensed to you under the terms described in
00008  * the LICENSE file included in this distribution.
00009  *
00010  */
00011 #ifndef ORCA_PATHPLANNER_SKELETONDRIVER_H
00012 #define ORCA_PATHPLANNER_SKELETONDRIVER_H
00013 
00014 #include "genericdriver.h"
00015 #include <orcaice/orcaice.h>
00016 #include <hydropathplan/hydropathplan.h>
00017 #include <orca/ogmap.h>
00018 #include <orcaogmap/orcaogmap.h>
00019 #include <vector>
00020 
00021 namespace pathplanner {
00022 
00023 class SkeletonGraphicsI;
00024 //
00025 // The 'skeletonnav' driver.
00026 //
00027 // @author Alex Brooks, Tobias Kaupp
00028 //
00029 class SkeletonDriver : public AlgoDriver
00030 {
00031 
00032 public: 
00033 
00034     SkeletonDriver( const  hydroogmap::OgMap &ogMap,
00035                     double robotDiameterMetres,
00036                     double traversabilityThreshhold,
00037                     bool   doPathOptimization,
00038                     bool   jiggleWaypointsOntoClearCells,
00039                     bool   useSparseSkeleton,
00040                     bool   addExtraSparseSkelNodes,
00041                     double sparseSkelExtraNodeResolution,
00042                     const  hydropathplan::CostEvaluator &costEvaluator,
00043                     const  orcaice::Context &context);
00044     ~SkeletonDriver();
00045     
00046     virtual void computePath( const orca::PathPlanner2dTask& task,
00047                               orca::PathPlanner2dData& pathData );
00048 
00049 private: 
00050     
00051     #ifdef QT4_FOUND
00052     void setGraphics( const hydroogmap::OgMap &ogMap,
00053                       double            robotDiameterMetres,
00054                       double            traversabilityThreshhold,
00055                       bool              doPathOptimization );
00056     #endif
00057     
00058     hydropathplan::IPathPlanner2d *pathPlanner_;
00059     GenericDriver                 *genericDriver_;
00060     SkeletonGraphicsI             *skelGraphicsI_;
00061     
00062     const orcaice::Context context_;
00063 
00064     bool   useSparseSkeleton_; 
00065 };
00066 
00067 }
00068 
00069 #endif
00070 #endif
skeletondriver.h
