voronoi_graph_generator.h

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/*
 * Copyright (c) 2017, <copyright holder> <email>
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#ifndef VORONOI_GRAPH_GENERATOR_H
#define VORONOI_GRAPH_GENERATOR_H
 
#include <ros/ros.h>
#include <tuw_voronoi_graph/segment.h>
#include <tuw_voronoi_graph/segment_expander.h>
 
namespace tuw_graph
{
    class VoronoiGraphGenerator
    {
        public:     
            VoronoiGraphGenerator();
            std::vector<Segment> calcSegments(cv::Mat &_map, cv::Mat &_distField, cv::Mat &_voronoiPath, float * potential, float _path_length, float _optimizeCrossingPixels, float _optimizeEndSegmentsPixel);
 
    };
}
#endif // PLANNER_NODE_H