Fawkes API
Fawkes Development Version
escape_potential_field_omni_drive_mode.h
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/***************************************************************************
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* escape_potential_field_omni_drive_mode.h - Implementation of drive-mode "escape"
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*
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* Created: Tue Mar 25 17:24:18 2014
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* Copyright 2014 Tobias Neumann
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_OMNI_DRIVE_MODE_H_
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#define _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_OMNI_DRIVE_MODE_H_
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#include "abstract_drive_mode.h"
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#include <utils/math/types.h>
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#include <vector>
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namespace
fawkes
{
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class
LaserOccupancyGrid;
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class
EscapePotentialFieldOmniDriveModule :
public
AbstractDriveMode
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{
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public
:
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EscapePotentialFieldOmniDriveModule
(
Logger
*logger,
Configuration
*config);
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~EscapePotentialFieldOmniDriveModule
();
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void
set_grid_information
(
LaserOccupancyGrid
*occ_grid,
int
robo_x,
int
robo_y);
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virtual
void
update
();
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private
:
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LaserOccupancyGrid
*occ_grid_;
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point_t
robot_pos_;
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bool
cfg_write_spam_debug_;
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int
turn_;
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};
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}
// end namespace fawkes
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#endif
fawkes::point_struct
Point with cartesian coordinates as signed integers.
Definition:
types.h:40
fawkes::Configuration
Definition:
config.h:68
fawkes::EscapePotentialFieldOmniDriveModule::EscapePotentialFieldOmniDriveModule
EscapePotentialFieldOmniDriveModule(Logger *logger, Configuration *config)
Constructor.
Definition:
escape_potential_field_omni_drive_mode.cpp:44
fawkes::Logger
Definition:
logger.h:40
fawkes
fawkes::EscapePotentialFieldOmniDriveModule::~EscapePotentialFieldOmniDriveModule
~EscapePotentialFieldOmniDriveModule()
Destruct your local values here.
Definition:
escape_potential_field_omni_drive_mode.cpp:65
fawkes::EscapePotentialFieldOmniDriveModule::set_grid_information
void set_grid_information(LaserOccupancyGrid *occ_grid, int robo_x, int robo_y)
This function sets the Grid information for one escape step.
Definition:
escape_potential_field_omni_drive_mode.cpp:78
fawkes::EscapePotentialFieldOmniDriveModule::update
virtual void update()
Calculate here your desired settings.
Definition:
escape_potential_field_omni_drive_mode.cpp:107
fawkes::LaserOccupancyGrid
Definition:
og_laser.h:51
src
plugins
colli
drive_modes
escape_potential_field_omni_drive_mode.h
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