00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2008 University of Malaga | 00007 | | 00008 | This software was written by the Perception and Robotics | 00009 | research group, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CHolonomicVFF_H 00029 #define CHolonomicVFF_H 00030 00031 #include "CAbstractHolonomicReactiveMethod.h" 00032 #include "CHolonomicLogFileRecord.h" 00033 00034 namespace mrpt 00035 { 00036 namespace reactivenav 00037 { 00038 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CLogFileRecord_VFF, CHolonomicLogFileRecord, RNAVDLLIMPEXP ) 00039 00040 00044 class RNAVDLLIMPEXP CLogFileRecord_VFF : public CHolonomicLogFileRecord 00045 { 00046 DEFINE_SERIALIZABLE( CLogFileRecord_VFF ) 00047 00048 public: 00049 00053 }; 00054 00055 00059 class CHolonomicVFF : public CAbstractHolonomicReactiveMethod 00060 { 00061 public: 00064 CHolonomicVFF(const mrpt::utils::CConfigFileBase *INI_FILE=NULL); 00065 00077 void navigate( poses::CPoint2D &target, 00078 vector_float &obstacles, 00079 float maxRobotSpeed, 00080 float &desiredDirection, 00081 float &desiredSpeed, 00082 CHolonomicLogFileRecordPtr &logRecord ); 00083 00086 void initialize( const mrpt::utils::CConfigFileBase &INI_FILE ); 00087 00088 }; 00089 } 00090 } 00091 00092 00093 #endif 00094 00095 00096
Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN:exported at Mon Jan 12 13:00:16 UTC 2009 |