24 #ifndef __PLUGINS_COLLI_ESCAPE_DRIVE_MODE_H_ 25 #define __PLUGINS_COLLI_ESCAPE_DRIVE_MODE_H_ 27 #include "abstract_drive_mode.h" 29 #include <utils/math/types.h> 49 void set_laser_data( std::vector<polar_coord_2d_t>& laser_points );
52 std::vector<polar_coord_2d_t> laser_points_;
57 std::vector< float > readings_normalized_;
58 std::vector< float > readings_front_, readings_back_;
59 std::vector< float > readings_left_front_, readings_left_back_;
60 std::vector< float > readings_right_front_, readings_right_back_;
63 void fill_normalized_readings();
64 void sort_normalized_readings();
66 bool check_danger( std::vector< float > readings );
67 bool turn_left_allowed();
68 bool turn_right_allowed();
void set_laser_data(std::vector< polar_coord_2d_t > &laser_points)
This function sets the laser points for one escape round.
Fawkes library namespace.
virtual void update()
Calculate here your desired settings.
~EscapeDriveModule()
Destructor.
Class Escape-Drive-Module.
This is the base class which calculates drive modes.
This class is mainly the same as the basic class with the difference that all data is precalculated o...
Interface for configuration handling.
EscapeDriveModule(Logger *logger, Configuration *config)
Constructor.