task_planner_util.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda

#ifndef CAJUN_TASK_PLANNER_UTIL_H
#define CAJUN_TASK_PLANNER_UTIL_H

#include "task_planner.H"

namespace cajun
{
        void trace_back_global_path (std::deque<task_planner_t *> const &plan_,
                                     unsigned tp_ind_,
                                     unsigned path_start_ind_,
                                     unsigned &LA_tp_ind_,
                                     unsigned &LA_path_ind_,
                                     double &distance_);
        double dis_bet_tp_path (std::deque<task_planner_t *> const &plan_,
                                unsigned tp_id);
};

#endif

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