UCPlanner: basic_path_extractor.H Source File

00001 // Copyright (C) 2007 University of Louisiana at Lafayette
00002 // Authors: Suresh Golconda
00003 
00004 #ifndef CAJUN_BASIC_PATH_EXTRACTOR_H
00005 #define CAJUN_BASIC_PATH_EXTRACTOR_H
00006 
00007 #include "path_extractor.H"
00008 
00009 namespace cajun
00010 {
00011 
00012 class basic_path_extractor_t : public path_extractor_t
00013 {
00014 public:
00015         basic_path_extractor_t (double cell_size_) :
00016                 path_extractor_t (cell_size_) {}
00017 
00018 protected:
00019         bool extract (double tstamp_, path_t &path_, path_t &detail_path_,
00020                       double orient_);
00021         bool same_path_wp (path_wp_t const &pwp1_, path_wp_t const &pwp2_);
00022 };
00023 
00024 };
00025 
00026 #endif