raytrace.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alexei Makarenko, George Mathews, Matthew Ridley
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 _OGMAP_RAYTRACE_H_
00012 #define _OGMAP_RAYTRACE_H_
00013 
00014 
00015 #include <vector>
00016 #include <orca/bros1.h>
00017 #include <gbxutilacfr/mathdefs.h>
00018 #include <hydroogmap/hydroogmap.h>
00019 #include <hydropathplan/hydropathplan.h>
00020 
00021 namespace laser2og
00022 { 
00026     std::vector<hydropathplan::Cell2D> rayTrace( const hydropathplan::Cell2D &startCell,
00027                                                 const hydropathplan::Cell2D &endCell );
00028   
00033     std::vector<hydropathplan::Cell2D> rayTrace(const hydroogmap::WorldCoords & startPoint,
00034                                                 const hydroogmap::WorldCoords & endPoint,
00035                                                 const double originX, const double originY,
00036                                                 const double mapRes ) ;
00037 }
00038   
00039 #endif