pathplanner/ndPlanner.h

#ifndef INCLUDE_NAVLIB_PATHPLANNER_NDPLANNER
#define INCLUDE_NAVLIB_PATHPLANNER_NDPLANNER

#include "pathPlanner.h"
#include <vector>

namespace navlib
{
        class NDPlanner : public PathPlanner
        {
        public:
                NDPlanner(TpbvpSolver* solver);
                virtual ~NDPlanner() {};
                Path* getPath(const PathPoint& wp0, const PathPoint& wpf, Shape* body, const std::vector<Point>& obstacles);

        private:
                
                std::vector<PathChain> getChildren(const PathChain& parent, Shape* body,
                        const std::vector<Point>& obstacles) const;
                TpbvpSolver* _solver;
        };
}

#endif

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