00001 #ifndef INCLUDE_NAVLIB 00002 #define INCLUDE_NAVLIB 00003 00004 #include "dynamics.h" 00005 #include "geometry.h" 00006 #include "path.h" 00007 #include "timer.h" 00008 #include "controller/controller.h" 00009 #include "identifier/identifier.h" 00010 #include "pathplanner/pathPlanner.h" 00011 #include "tpbvpsolver/tpbvpSolver.h" 00012 00013 namespace navlib 00014 { 00015 00017 std::vector<PathPoint> findDoorways(const Pose& psensor, const Shape* body, std::vector<Polar> obstacles); 00018 std::vector<PathPoint> findDoorways(const Pose& psensor, double minWidth, double minLength, std::vector<Polar> obstacles); 00019 00021 std::vector<Sector> findSafeRegions(std::vector<Polar>& points, const double& maxLength); 00022 00024 double getClearance(Shape* body, std::vector<Point> obstacles, const double& maxdist); 00025 00027 double getTimeTilCollision(const Shape* body, double v, double w, std::vector<Point> obstacles); 00028 double getTimeTilCollision(const Pose& pose, const Shape* body, double v, double w, std::vector<Point> obstacles); 00029 00030 } 00031 00032 #endif