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
