Fawkes API
Fawkes Development Version
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22 #ifndef _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_DRIVE_MODE_H_
23 #define _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_DRIVE_MODE_H_
25 #include "abstract_drive_mode.h"
27 #include <utils/math/types.h>
33 class LaserOccupancyGrid;
49 bool cfg_write_spam_debug_;
Point with cartesian coordinates as signed integers.
EscapePotentialFieldDriveModule(Logger *logger, Configuration *config)
Constructor.
Class Escape-Drive-Module.
Interface for configuration handling.
This is the base class which calculates drive modes.
~EscapePotentialFieldDriveModule()
Destruct your local values here.
Fawkes library namespace.
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 ...