path_finder.h
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00001 
00035 #ifndef BWI_MAPPER_PATH_FINDER_H_
00036 #define BWI_MAPPER_PATH_FINDER_H_
00037 
00038 #include <nav_msgs/OccupancyGrid.h>
00039 #include <bwi_mapper/structures/point.h>
00040 
00041 namespace bwi_mapper {
00042 
00048   class PathFinder {
00049 
00050     public:
00051 
00052       static const int OBSTACLE = -2;
00053       static const int NOT_CONNECTED = -1;
00054       
00055       PathFinder(const nav_msgs::OccupancyGrid& map, const Point2d& start_pt);
00056       
00057       bool pathExists(const Point2d& pt);
00058 
00059       int getManhattanDistance(const Point2d& pt);
00060 
00062       int width_;
00063       std::vector<int> search_space_;
00064 
00065   };
00066 
00067 } /* bwi_mapper */
00068 
00069 #endif /* end of include guard: BWI_MAPPER_PATH_FINDER_H_ */


bwi_mapper
Author(s): Piyush Khandelwal
autogenerated on Thu Jun 6 2019 17:57:21