pathconversionutil.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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  
00011 #ifndef ORCA_PATH_UTILS_H
00012 #define ORCA_PATH_UTILS_H
00013 
00014 #include <Ice/Properties.h>
00015 #include <hydroqguipath/pathutils.h>
00016 #include <orca/pathfollower2d.h>
00017 
00018 namespace orcaqgui2d {
00019 
00020 //
00021 // Conversion functions
00022 //
00023 void guiPathToOrcaPath( const hydroqguipath::GuiPath &in, 
00024                         orca::Path2d                 &out, 
00025                         int                           numLoops = 1, 
00026                         float                         timeOffset = 0.0 );
00027 
00028 void orcaPathToGuiPath( const orca::Path2d     &in, 
00029                         hydroqguipath::GuiPath &out );
00030 
00031 //
00032 // Reading stuff from cfg file
00033 //
00034 hydroqguipath::WaypointSettings readWaypointSettings( const Ice::PropertiesPtr &props, 
00035                                                       const std::string        &tag );
00036 
00037 bool readActivateImmediately( const Ice::PropertiesPtr &props, 
00038                               const std::string        &tag );
00039 
00040 QString readDumpPath( const Ice::PropertiesPtr &props, 
00041                       const std::string        &tag );
00042 
00043 
00044 }
00045 
00046 #endif