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- #ifndef DUBINS_PLANNER_H
- #define DUBINS_PLANNER_H
- #include "base_planner.h"
- #include <adc_tools/dubins.h>
- #include <QCoreApplication>
- #include <math.h>
- #include <iostream>
- #include <stdio.h>
- #include <string.h>
- namespace iv{
- namespace decition{
- class DubinsPlanner : public BasePlanner{
- public:
- DubinsPlanner();
- ~DubinsPlanner();
- static std::vector<iv::GPSData> gpsMap;
-
- std::vector<iv::Point2D> getPath(GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr);
- int static printConfiguration(double q[3], double x, void* user_data);
- };
- }
- }
- #endif
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