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");
point_t local_trajec_
the calculated trajectory where to drive to
Fawkes library namespace.
virtual ~AbstractSearch()
Destructor.
LaserOccupancyGrid * occ_grid_
The occupancy grid.
const point_t & get_local_target()
return pointer to the local target.
This is the abstract search interpretation class for an arbitrary search algorithm to find its way th...
colli_cell_cost_t get_cell_costs() const
Get cell costs.
Costs of occupancy-grid cells.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
virtual bool updated_successful()=0
Checks if the update was successful.
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!
AbstractSearch(LaserOccupancyGrid *occ_grid, Logger *logger)
Constructor.
colli_cell_cost_t cell_costs_
The costs for cells in occupancy grid.
const point_t & get_local_trajec()
return pointer to the local trajectory point.
Point with cartesian coordinates as signed integers.
point_t local_target_
the calculated target where to drive to
virtual void log_debug(const char *component, const char *format,...)
Log debug message.