testsimutil.h

00001 #ifndef ORCALOCALNAVTEST_TESTSIM_H
00002 #define ORCALOCALNAVTEST_TESTSIM_H
00003 
00004 #include <orcalocalnavtest/simulator.h>
00005 #include <orca/pathfollower2d.h>
00006 #include <hydroogmap/hydroogmap.h>
00007 
00008 namespace orcalocalnavtest {
00009 
00010     orca::PathFollower2dData getTestPath( const hydroogmap::OgMap &ogMap,
00011                                           int numWaypoints,
00012                                           bool stressTiming,
00013                                           bool regularWaypointGrid,
00014                                           bool turnOnSpot,
00015                                           bool goThruDoor );
00016 
00017     hydroogmap::OgMap setupMap( double worldSize, 
00018                                 double cellSize,
00019                                 int    numObstacles,
00020                                 bool   useRoom );
00021 
00022     void checkProgress( const orca::PathFollower2dData     &path, 
00023                         const hydrosim2d::VehicleSimulator &vehicleSim,
00024                         int                                 iterationNum,
00025                         int                                 iterationLimit,
00026                         int                                &wpI,
00027                         bool                               &pathCompleted,
00028                         bool                               &pathFailed );
00029                         
00030 }
00031 
00032 #endif