22 #ifndef _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_DRIVE_MODE_H_
23 #define _PLUGINS_COLLI_ESCAPE_POTENTIAL_FIELD_DRIVE_MODE_H_
25 #include "abstract_drive_mode.h"
27 #include <utils/math/types.h>
33 class LaserOccupancyGrid;
49 bool cfg_write_spam_debug_;
This is the base class which calculates drive modes.
Interface for configuration handling.
Class Escape-Drive-Module.
~EscapePotentialFieldDriveModule()
Destruct your local values here.
EscapePotentialFieldDriveModule(Logger *logger, Configuration *config)
Constructor.
virtual void update()
Calculate here your desired settings.
void set_grid_information(LaserOccupancyGrid *occ_grid, int robo_x, int robo_y)
This function sets the Grid information for one escape step.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
Fawkes library namespace.
Point with cartesian coordinates as signed integers.