Fawkes API  Fawkes Development Version
escape_potential_field_omni_drive_mode.h
1 
2 /***************************************************************************
3  * escape_potential_field_omni_drive_mode.h - Implementation of drive-mode "escape"
4  *
5  * Created: Tue Mar 25 17:24:18 2014
6  * Copyright 2014 Tobias Neumann
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_OMNI_DRIVE_MODE_H_
23 #define _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_OMNI_DRIVE_MODE_H_
24 
25 #include "abstract_drive_mode.h"
26 
27 #include <utils/math/types.h>
28 
29 #include <vector>
30 
31 namespace fawkes {
32 
33 class LaserOccupancyGrid;
34 
36 {
37 public:
40 
41  void set_grid_information(LaserOccupancyGrid *occ_grid, int robo_x, int robo_y);
42  virtual void update();
43 
44 private:
45  LaserOccupancyGrid *occ_grid_;
46  point_t robot_pos_;
47 
48  bool cfg_write_spam_debug_;
49 
50  int turn_;
51 };
52 
53 } // end namespace fawkes
54 
55 #endif
This is the base class which calculates drive modes.
Interface for configuration handling.
Definition: config.h:68
virtual void update()
Calculate here your desired settings.
void set_grid_information(LaserOccupancyGrid *occ_grid, int robo_x, int robo_y)
This function sets the Grid information for one escape step.
EscapePotentialFieldOmniDriveModule(Logger *logger, Configuration *config)
Constructor.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
Definition: og_laser.h:47
Interface for logging.
Definition: logger.h:42
Fawkes library namespace.
Point with cartesian coordinates as signed integers.
Definition: types.h:42