Fawkes API  Fawkes Development Version
escape_potential_field_drive_mode.h
1 
2 /***************************************************************************
3  * escape_potential_drive_mode.h - Escaping mode using potential field
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_DRIVE_MODE_H_
23 #define __PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_DRIVE_MODE_H_
24 
25 #include "abstract_drive_mode.h"
26 #include <utils/math/types.h>
27 
28 #include <vector>
29 
30 namespace fawkes
31 {
32 #if 0 /* just to make Emacs auto-indent happy */
33 }
34 #endif
35 
36 class LaserOccupancyGrid;
37 
39 {
40  public:
43 
44  void set_grid_information( LaserOccupancyGrid* occ_grid, int robo_x, int robo_y );
45  virtual void update();
46 
47  private:
48 
49  /// our pointer to the laserinterface.... lets escape ;-)
50  LaserOccupancyGrid* occ_grid_;
51  point_t robot_pos_;
52 
53  bool cfg_write_spam_debug_;
54 
55  int turn_;
56 };
57 
58 } // end namespace fawkes
59 
60 #endif
Fawkes library namespace.
~EscapePotentialFieldDriveModule()
Destruct your local values here.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
Definition: og_laser.h:49
virtual void update()
Calculate here your desired settings.
This is the base class which calculates drive modes.
Point with cartesian coordinates as signed integers.
Definition: types.h:40
EscapePotentialFieldDriveModule(Logger *logger, Configuration *config)
Constructor.
void set_grid_information(LaserOccupancyGrid *occ_grid, int robo_x, int robo_y)
This function sets the Grid information for one escape step.
Interface for configuration handling.
Definition: config.h:67
Interface for logging.
Definition: logger.h:34