00001 #ifndef INCLUDE_NAVLIB_PATHPLANNER 00002 #define INCLUDE_NAVLIB_PATHPLANNER 00003 00004 #include "../geometry.h" 00005 #include "../path.h" 00006 #include "../tpbvpsolver/tpbvpSolver.h" 00007 00008 namespace navlib 00009 { 00011 class PathPlanner 00012 { 00013 public: 00014 virtual ~PathPlanner() {} 00020 virtual Path* getPath(const PathPoint& wp0, const PathPoint& wpf, 00021 Shape* body, const std::vector<Point>& obstacles) = 0; 00022 }; 00023 } 00024 00025 #include "gridPlanner.h" 00026 #include "ndPlanner.h" 00027 #include "roadmapPlanner.h" 00028 00029 #endif