/********************************************************************* * * Software License Agreement (BSD License) * * Copyright (c) 2008, 2013, Willow Garage, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * * Author: Eitan Marder-Eppstein * David V. Lu!! *********************************************************************/ #ifndef _TRACEBACK_H #define _TRACEBACK_H #include<vector> #include<global_planner/potential_calculator.h> namespace global_planner { class Traceback { public: Traceback(PotentialCalculator* p_calc) : p_calc_(p_calc) {} virtual ~Traceback() {} virtual bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector<std::pair<float, float> >& path) = 0; virtual void setSize(int xs, int ys) { xs_ = xs; ys_ = ys; } inline int getIndex(int x, int y) { return x + y * xs_; } void setLethalCost(unsigned char lethal_cost) { lethal_cost_ = lethal_cost; } protected: int xs_, ys_; unsigned char lethal_cost_; PotentialCalculator* p_calc_; }; } //end namespace global_planner #endif