Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_COLLI_SEARCH_ABSTRACTSEARCH_H_
24 #define _PLUGINS_COLLI_SEARCH_ABSTRACTSEARCH_H_
26 #include "../common/types.h"
29 #include <logging/logger.h>
30 #include <utils/math/types.h>
53 virtual void update(
int robo_x,
int robo_y,
int target_x,
int target_y) = 0;
85 logger->
log_debug(
"AbstractSearch",
"(Constructor): Entering");
88 logger->
log_debug(
"AbstractSearch",
"(Constructor): Exiting");
virtual ~AbstractSearch()
Destructor.
Point with cartesian coordinates as signed integers.
const point_t & get_local_target()
return pointer to the local target.
point_t local_target_
the calculated target where to drive to
point_t local_trajec_
the calculated trajectory where to drive to
const point_t & get_local_trajec()
return pointer to the local trajectory point.
virtual void log_debug(const char *component, const char *format,...)
Log debug message.
colli_cell_cost_t cell_costs_
The costs for cells in occupancy grid.
Fawkes library namespace.
virtual void update(int robo_x, int robo_y, int target_x, int target_y)=0
update complete plan things precondition: the occupancy grid has to be updated previously!
virtual bool updated_successful()=0
Checks if the update was successful.
colli_cell_cost_t get_cell_costs() const
Get cell costs.
LaserOccupancyGrid * occ_grid_
The occupancy grid.
Costs of occupancy-grid cells.
AbstractSearch(LaserOccupancyGrid *occ_grid, Logger *logger)
Constructor.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
This is the abstract search interpretation class for an arbitrary search algorithm to find its way th...