almath/tools/aldubinscurve.h Source File

00001 /*
00002  * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
00003  * Use of this source code is governed by a BSD-style license that can be
00004  * found in the COPYING file.
00005  */
00006 
00007 
00008 #pragma once
00009 #ifndef _LIBALMATH_ALMATH_TOOLS_ALDUBINSCURVE_H_
00010 #define _LIBALMATH_ALMATH_TOOLS_ALDUBINSCURVE_H_
00011 
00012 #include <almath/types/alpose2d.h>
00013 #include <vector>
00014 
00015 namespace AL {
00016   namespace Math {
00017 
00023     std::vector<Pose2D> getDubinsSolutions(
00024       const Pose2D& pTargetPose,
00025       const float   pCircleRadius);
00026 
00027   }
00028 }
00029 #endif  // _LIBALMATH_ALMATH_TOOLS_ALDUBINSCURVE_H_