Orca Robotics

00001 #ifndef TESTSIM_H
00002 #define TESTSIM_H
00003 
00004 #include <testsim/simulator.h>
00005 #include <orca/pathfollower2d.h>
00006 #include <hydroogmap/hydroogmap.h>
00007 
00008 namespace localnav {
00009 
00010     orca::PathFollower2dData getTestPath( const hydroogmap::OgMap &ogMap,
00011                                           int numWaypoints,
00012                                           bool stressTiming,
00013                                           bool turnOnSpot,
00014                                           bool goThruDoor );
00015 
00016     hydroogmap::OgMap setupMap( double worldSize, 
00017                                 double cellSize,
00018                                 int    numObstacles,
00019                                 bool   useRoom );
00020 
00021     void checkProgress( const orca::PathFollower2dData     &path, 
00022                         const hydrosim2d::VehicleSimulator &vehicleSim,
00023                         int                                 iterationNum,
00024                         int                                &wpI,
00025                         bool                               &pathCompleted,
00026                         bool                               &pathFailed );
00027                         
00028 }
00029 
00030 #endif
testsimutil.h
