00001 // -*- mode: c++; indent-tabs-mode: nil; c-basic-offset: 4; tab-width: 4; -*- 00002 #ifndef __TGT_H__ 00003 #define __TGT_H__ 00004 00005 #include "Mobility.h" 00006 #include "Configuration.h" 00007 00008 namespace PathEngine { 00009 class PathPlanner; 00010 00016 class TGT : public Mobility{ 00017 public: 00022 TGT(PathPlanner* planner) : Mobility(planner) {} 00023 00027 Configuration interpolate(const Configuration& from, const Configuration& to, double ratio) const; 00028 00032 double distance(const Configuration& from, const Configuration& to) const; 00033 00037 bool isReversible() const { return false; } 00038 }; 00039 }; 00040 00041 #endif // __TGT_H__