CPathPlanningCircularRobot.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
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   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CPathPlanningCircularRobot_H
#define CPathPlanningCircularRobot_H

#include <mrpt/slam/CPathPlanningMethod.h>

#include <mrpt/slam/link_pragmas.h>


namespace mrpt
{
namespace slam
{
        /** An implementation of CPathPlanningMethod
         * \sa CPathPlanningMethod \ingroup mrpt_slam_grp
         */
        class SLAM_IMPEXP CPathPlanningCircularRobot : public CPathPlanningMethod
        {
        public:
                /** Default constructor
                  */
                CPathPlanningCircularRobot();

                /** Destructor
                  */
        virtual ~CPathPlanningCircularRobot()
                {
                }

                /** The aproximate robot radius used in the planification. Default is 0.35m
                  */
                float   robotRadius;

                /** This method compute the optimal path for a circular robot, in the given
                  *   occupancy grid map, from the origin location to a target point.
                  * The options and additional parameters to this method can be set with
                  *   member configuration variables.
                  *
                  * \param theMap       [IN] The occupancy gridmap used to the planning.
                  * \param origin       [IN] The starting pose of the robot, in coordinates of "map".
                  * \param target       [IN] The desired target pose for the robot, in coordinates of "map".
                  * \param path         [OUT] The found path, in global coordinates relative to "map".
                  * \param notFount     [OUT] Will be true if no path has been found.
                  * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit)
                  *
                  * \sa robotRadius
                  *
                  * \exception std::exception On any error
                  */
                void  computePath(
                                const COccupancyGridMap2D       &theMap,
                                const CPose2D                           &origin,
                                const CPose2D                           &target,
                                std::deque<math::TPoint2D>      &path,
                                bool                                            &notFound,
                                float                                           maxSearchPathLength = -1
                                ) const;

        };

        } // End of namespace
} // End of namespace

#endif