traceback.h
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35  * Author: Eitan Marder-Eppstein
36  * David V. Lu!!
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38 #ifndef _TRACEBACK_H
39 #define _TRACEBACK_H
40 #include<vector>
42 
43 namespace global_planner {
44 
45 class Traceback {
46  public:
47  Traceback(PotentialCalculator* p_calc) : p_calc_(p_calc) {}
48 
49  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;
50  virtual void setSize(int xs, int ys) {
51  xs_ = xs;
52  ys_ = ys;
53  }
54  inline int getIndex(int x, int y) {
55  return x + y * xs_;
56  }
57  void setLethalCost(unsigned char lethal_cost) {
58  lethal_cost_ = lethal_cost;
59  }
60  protected:
61  int xs_, ys_;
62  unsigned char lethal_cost_;
64 };
65 
66 } //end namespace global_planner
67 #endif
PotentialCalculator * p_calc_
Definition: traceback.h:63
unsigned char lethal_cost_
Definition: traceback.h:62
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
Traceback(PotentialCalculator *p_calc)
Definition: traceback.h:47
void setLethalCost(unsigned char lethal_cost)
Definition: traceback.h:57
int getIndex(int x, int y)
Definition: traceback.h:54
virtual void setSize(int xs, int ys)
Definition: traceback.h:50


global_planner
Author(s): David Lu!!
autogenerated on Mon Jul 27 2020 04:08:50