00001 #ifndef INCLUDE_NAVLIB_PATHPLANNER_NDPLANNER 00002 #define INCLUDE_NAVLIB_PATHPLANNER_NDPLANNER 00003 00004 #include "pathPlanner.h" 00005 #include <vector> 00006 00007 namespace navlib 00008 { 00010 class NDPlanner : public PathPlanner 00011 { 00012 public: 00014 NDPlanner(TpbvpSolver* solver); 00015 virtual ~NDPlanner() {}; 00016 Path* getPath(const PathPoint& wp0, const PathPoint& wpf, Shape* body, const std::vector<Point>& obstacles); 00017 00018 private: 00022 00023 std::vector<PathChain> getChildren(const PathChain& parent, Shape* body, 00024 const std::vector<Point>& obstacles) const; 00025 TpbvpSolver* _solver; 00026 }; 00027 } 00028 00029 #endif