pathconvert.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 #ifndef ORCA_PATH_CONVERT_H
00011 #define ORCA_PATH_CONVERT_H
00012 
00013 #include <vector>
00014 #include <string>
00015 #include <orca/pathplanner2d.h>
00016 #include <orcaogmap/orcaogmap.h>
00017 #include <orcapathplan/orcapathplan.h>
00018 #include <hydropathplan/hydropathplan.h>
00019 
00020 namespace orcapathplan {
00021 
00022     struct WaypointParameter
00023     {
00024         float      distanceTolerance;
00025         float      headingTolerance;
00026         double     timeTarget;
00027         float      maxApproachSpeed;
00028         float      maxApproachTurnrate;
00029     };
00030     std::string toString( const WaypointParameter &wp );
00031 
00038     void convertAndAppend( const hydroogmap::OgMap           &ogMap,
00039                            const hydropathplan::Cell2DVector &input,
00040                            orca::PathPlanner2dData           &output,
00041                            double                             firstHeading = 0.0  );
00042     
00044     void convertAndAppend( const hydroogmap::OgMap               &ogMap,
00045                            const hydropathplan::Cell2DVector     &input,
00046                            const std::vector<WaypointParameter>  &wpPara,
00047                            orca::PathPlanner2dData               &output,
00048                            double                                 firstHeading = 0.0 );
00049     
00051     void setParameters( orca::PathPlanner2dData              &pathData,
00052                         const std::vector<WaypointParameter> &wpPara );
00053 
00054 }
00055 #endif