pathplanner/roadmapPlanner.h

#ifndef INCLUDE_NAVLIB_PATHPLANNER_ROADMAPPLANNER
#define INCLUDE_NAVLIB_PATHPLANNER_ROADMAPPLANNER

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

namespace navlib
{
        PathPoint uniformCapsule(Point p0, Point pf, double radius);
        PathPoint uniformVisible(Pose psensor, std::vector<Polar> obstacles);

        class RoadmapPlanner : public PathPlanner
        {
        public:
                RoadmapPlanner(TpbvpSolver* solver, bool reverse=true, size_t knn=5);
                virtual ~RoadmapPlanner() {};
                Path* getPath(const PathPoint& wp0, const PathPoint& wpf, Shape* body,
                        const std::vector<Point>& obstacles);
                void addWaypoint(PathPoint wp);
                void addWaypoints(std::vector<PathPoint> wps);
                void clearWaypoints();
                void removeWaypoint(PathPoint wp);
                void removeWaypoints(std::vector<PathPoint> wps);

        private:
                TpbvpSolver* _solver;
                bool _reverse;
                size_t _knn;
                std::list<PathPoint> _waypoints; 
        };
}

#endif

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