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Dependencies:   RoboClaw mbed

Fork of Timer by ARES

Map/map.h

Committer:
IceTeam
Date:
2016-05-03
Revision:
52:98f8a6ccb6ae
Parent:
47:be4eebf40568
Child:
55:dfeee9e5c0af

File content as of revision 52:98f8a6ccb6ae:

#ifndef MAP_H
#define MAP_H

#include "obsCarr.h"
#include "pointParcours.h"
#include "nVector.h"
#include "controle.h"
#include "Odometry.h"

#define MAP_RIGHTSIDE 1
#define MAP_LEFTSIDE 2

class map {
public:
    map (Odometry* nodo);
    void addObs (obsCarr nobs);
    void FindWay (point dep, point arr);
    void FindWay (float depX, float depY, float arrX, float arrY);
    void Execute (float XObjectif, float YObjectif);
    void Build(int start_type);
    nVector<pointParcours>& getParc () { return path; }
    bool& getEnded () { return endedParc; }

protected:
    nVector<obsCarr> obs;
    nVector<pointParcours> path;
    bool endedParc; // Definit s'il existe un chemin parcourable dans le dernier FindWay
    Odometry* Codo;
};

#endif