/*********************************************************************
 *
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2008, 2013, Willow Garage, Inc.
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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/
#ifndef _GRID_PATH_H
#define _GRID_PATH_H
#include<vector>
#include<global_planner/traceback.h>

namespace global_planner {

class GridPath : public Traceback {
    public:
        GridPath(PotentialCalculator* p_calc): Traceback(p_calc){}
        virtual ~GridPath() {}
        bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector<std::pair<float, float> >& path);
};

} //end namespace global_planner
#endif