Fawkes API
Fawkes Development Version
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22 #ifndef _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_OMNI_DRIVE_MODE_H_
23 #define _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_OMNI_DRIVE_MODE_H_
25 #include "abstract_drive_mode.h"
27 #include <utils/math/types.h>
33 class LaserOccupancyGrid;
48 bool cfg_write_spam_debug_;
Point with cartesian coordinates as signed integers.
Interface for configuration handling.
This is the base class which calculates drive modes.
EscapePotentialFieldOmniDriveModule(Logger *logger, Configuration *config)
Constructor.
Fawkes library namespace.
Class Escape-Drive-Module.
~EscapePotentialFieldOmniDriveModule()
Destruct your local values here.
void set_grid_information(LaserOccupancyGrid *occ_grid, int robo_x, int robo_y)
This function sets the Grid information for one escape step.
virtual void update()
Calculate here your desired settings.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...