00001 #ifndef DISCRETE_SPACE_TIME_INFORMATION_H
00002 #define DISCRETE_SPACE_TIME_INFORMATION_H
00003
00004 #include <sbpl/headers.h>
00005 #include <sbpl_dynamic_planner/sbpl_dynamicObstacles.h>
00006
00007 class DiscreteSpaceTimeInformation : public DiscreteSpaceInformation{
00008 public:
00009 virtual void GetSuccs(int SourceStateID, vector<int>* SuccIDV, vector<int>* CostV) = 0;
00010 virtual void GetSuccs(int SourceStateID, vector<int>* SuccIDV, vector<int>* CostV, vector<int>* stateBubbles, vector<int>* bubbleCollisions){GetSuccs(SourceStateID, SuccIDV, CostV);}
00011 virtual void Relax(int sourceID, int targetID){}
00012 virtual int getNumBubbles(){return 0;}
00013 virtual bool setDynamicObstacles(vector<SBPL_DynamicObstacle_t> dynObs, bool reset_states=true) = 0;
00014 virtual bool UpdateCost(int x, int y, unsigned char newcost) = 0;
00015 virtual int SetStart(double x, double y, double theta, double startTime) = 0;
00016 virtual int SetGoal(double x, double y, double theta) = 0;
00017 virtual unsigned char GetMapCost(int x, int y) = 0;
00018 virtual void GetCoordFromState(int stateID, int& x, int& y, int& theta, int& t) const = 0;
00019 virtual void ConvertStateIDPathintoXYThetaPath(vector<int>* stateIDPath, vector<SBPL_4Dpt_t>* xythetaPath) = 0;
00020 virtual void getExpansions(vector<SBPL_4Dpt_t>* p){}
00021 virtual bool InitializeEnv(int width, int height,
00023 const unsigned char* mapdata,
00024 double startx, double starty, double starttheta, double startTime,
00025 double goalx, double goaly, double goaltheta,
00026 double goaltol_x, double goaltol_y, double goaltol_theta,
00027 const vector<sbpl_2Dpt_t> & perimeterptsV,
00028 double cellsize_m, double timeResolution,
00029 double nominalvel_mpersecs, double timetoturn45degsinplace_secs,
00030 unsigned char obsthresh, unsigned char dynobsthresh, const char* sMotPrimFile,
00031 vector<SBPL_DynamicObstacle_t> & dynObs) = 0;
00032 };
00033
00034 #endif
