UCPlanner: path_generator.H Source File

00001 // Copyright (C) 2006 University of Louisiana at Lafayette
00002 // Authors: Suresh Golconda, Pablo Mejia
00003 
00004 
00005 #ifndef CAJUN_PATH_GENERATOR_H
00006 #define CAJUN_PATH_GENERATOR_H
00007 
00008 #include "task_planner.H"
00009 #include "world_state.H"
00010 #include "rndf.H"
00011 #include "mdf.H"
00012 
00013 namespace cajun
00014 {
00015 
00016 class path_generator_t
00017 {
00018 public:
00019         path_generator_t (world_state_t *ws_, rndf_t const *rndf_,
00020                           mdf_t const *mdf_);
00021         ~path_generator_t () { }
00025         bool generate_path (std::deque<task_planner_t *> &task_plan_,
00026                             const path_t &b_path_);
00027 
00028         bool reset_base_path ();
00029 private:
00030         unsigned wp_on_prev_path (double x_, double y_);
00031 
00032         world_state_t *m_world_state;
00033         rndf_t const *m_rndf;
00034         mdf_t const *m_mdf;
00035         bool m_reset_base_path;
00036 };
00037 
00038 };
00039 
00040 #endif