00001 /********************************************************* 00002 * 00003 * This source code is part of the Carnegie Mellon Robot 00004 * Navigation Toolkit (CARMEN) 00005 * 00006 * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas 00007 * Roy, and Sebastian Thrun 00008 * 00009 * CARMEN is free software; you can redistribute it and/or 00010 * modify it under the terms of the GNU General Public 00011 * License as published by the Free Software Foundation; 00012 * either version 2 of the License, or (at your option) 00013 * any later version. 00014 * 00015 * CARMEN is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied 00017 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 00018 * PURPOSE. See the GNU General Public License for more 00019 * details. 00020 * 00021 * You should have received a copy of the GNU General 00022 * Public License along with CARMEN; if not, write to the 00023 * Free Software Foundation, Inc., 59 Temple Place, 00024 * Suite 330, Boston, MA 02111-1307 USA 00025 * 00026 ********************************************************/ 00027 00029 // @{ 00030 00039 #ifndef CONVENTIONAL_H 00040 #define CONVENTIONAL_H 00041 00042 #ifdef __cplusplus 00043 extern "C" { 00044 #endif 00045 00049 void carmen_conventional_dynamic_program(int goal_x, int goal_y); 00054 void carmen_conventional_find_best_action(carmen_map_point_p curpoint); 00056 void carmen_conventional_end_planner(void); 00059 double *carmen_conventional_get_utility_ptr(void); 00062 double *carmen_conventional_get_costs_ptr(void); 00065 double carmen_conventional_get_utility(int x, int y); 00067 double carmen_conventional_get_cost(int x, int y); 00071 void carmen_conventional_build_costs(carmen_robot_config_t *robot_conf, 00072 carmen_map_point_t *robot_posn, 00073 carmen_navigator_config_t *navigator_conf); 00074 00075 #ifdef __cplusplus 00076 } 00077 #endif 00078 00079 #endif 00080 // @}
1.4.4