sbpl_dynamicObstacles.h

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#ifndef SBPL_DYNAMICOBSTACLES_H
#define SBPL_DYNAMICOBSTACLES_H

#include <vector>

using namespace std;

typedef struct{
  double x;
  double y;
  int t;
  double std_dev;
} SBPL_Traj_Pt_t;

typedef struct{
  //the probability that the object follows this trajectory
  double prob;
  //the points along the trajectory
  vector<SBPL_Traj_Pt_t> points;
  //does the obstacle still "exist" and sit in its last configuration after
  //its trajectory is finished
  bool existsAfter;
} SBPL_Trajectory_t;

typedef struct{
  //list of the possible trajectories this obstacle may take
  vector<SBPL_Trajectory_t> trajectories;
  //the radius of the dynamic obstacle in cells
  double radius;
} SBPL_DynamicObstacle_t;

typedef struct{
        double x;
        double y;
        double theta;
  double t;
} SBPL_4Dpt_t;

typedef struct SBPL_4DCELL{
        int x;
        int y;
        int theta;
  int t;
        int iteration;
public:
        bool operator == (SBPL_4DCELL cell) {return (x==cell.x && y==cell.y && theta==cell.theta && t==cell.t);}
} SBPL_4Dcell_t;

#endif

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sbpl_dynamic_planner
Author(s): Michael Phillips, Maxim Likhachev
autogenerated on Fri Jan 11 09:41:03 2013