traceback.h
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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #ifndef _TRACEBACK_H
00039 #define _TRACEBACK_H
00040 #include<vector>
00041 #include<global_planner/potential_calculator.h>
00042 
00043 namespace global_planner {
00044 
00045 class Traceback {
00046     public:
00047         Traceback(PotentialCalculator* p_calc) : p_calc_(p_calc) {}
00048 
00049         virtual bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector<std::pair<float, float> >& path) = 0;
00050         virtual void setSize(int xs, int ys) {
00051             xs_ = xs;
00052             ys_ = ys;
00053         }
00054         inline int getIndex(int x, int y) {
00055             return x + y * xs_;
00056         }
00057         void setLethalCost(unsigned char lethal_cost) {
00058             lethal_cost_ = lethal_cost;
00059         }
00060     protected:
00061         int xs_, ys_;
00062         unsigned char lethal_cost_;
00063         PotentialCalculator* p_calc_;
00064 };
00065 
00066 } //end namespace global_planner
00067 #endif


global_planner
Author(s): David Lu!!
autogenerated on Wed Aug 2 2017 03:13:13