planner_interface.h

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/*********************************************************
 *
 * This source code is part of the Carnegie Mellon Robot
 * Navigation Toolkit (CARMEN)
 *
 * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
 * Roy, and Sebastian Thrun
 *
 * CARMEN is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU General Public 
 * License as published by the Free Software Foundation; 
 * either version 2 of the License, or (at your option)
 * any later version.
 *
 * CARMEN is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied 
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 * PURPOSE.  See the GNU General Public License for more 
 * details.
 *
 * You should have received a copy of the GNU General 
 * Public License along with CARMEN; if not, write to the
 * Free Software Foundation, Inc., 59 Temple Place, 
 * Suite 330, Boston, MA  02111-1307 USA
 *
 ********************************************************/


// @{

#ifndef PLANNER_INTERFACE_H
#define PLANNER_INTERFACE_H

#include <carmen/robot_messages.h>

#include "navigator.h"
#include "navigator_messages.h"

#ifdef __cplusplus
extern "C" {
#endif

  typedef struct {
    carmen_traj_point_p points;
    int length;
    int capacity;
  } carmen_planner_path_t, *carmen_planner_path_p;
  
  typedef struct {
    carmen_traj_point_t robot;
    carmen_point_t goal;        
    carmen_planner_path_t path;
    int goal_set;
  } carmen_planner_status_t, *carmen_planner_status_p;
  
  
  int carmen_planner_update_robot(carmen_traj_point_p new_position, 
                                  carmen_navigator_config_t *nav_conf);
  
  int carmen_planner_update_goal(carmen_point_p new_goal, int any_orientation,
                                 carmen_navigator_config_t *nav_conf);
  
  int carmen_planner_next_waypoint(carmen_traj_point_p waypoint, 
                                   int *is_goal,
                                   carmen_navigator_config_t *nav_conf);

  void carmen_planner_set_map(carmen_map_p map, 
                              carmen_robot_config_t *robot_conf);
  
  void carmen_planner_reset_map(carmen_robot_config_t *robot_conf);
  
  void carmen_planner_update_map(carmen_robot_laser_message *laser_msg, 
                                 carmen_navigator_config_t *nav_config,
                                 carmen_robot_config_t *robot_conf);
  
  void carmen_planner_update_grid(carmen_map_p new_map, 
                                  carmen_traj_point_p new_position, 
                                  carmen_robot_config_t *robot_conf,
                                  carmen_navigator_config_t *nav_conf);

  carmen_navigator_map_message* carmen_planner_get_map_message
  (carmen_navigator_map_t map_type);
  
  void carmen_planner_get_status(carmen_planner_status_p status);

  double *carmen_planner_get_utility(void);  

  int carmen_planner_goal_reachable(void);

#ifdef __cplusplus
}
#endif

#endif
// @}

---