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/*********************************************************************
MLDemos: A User-Friendly visualization toolkit for machine learning
Copyright (C) 2010 Basilio Noris
Contact: mldemos@b4silio.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public License,
version 3 as published by the Free Software Foundation.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free
Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*********************************************************************/
#ifndef _OBSTACLES_H_
#define _OBSTACLES_H_
#include <vector>
#include "datasetManager.h"
#include <mymaths.h>
class ObstacleAvoidance
{
public:
virtual ~ObstacleAvoidance(){};
std::vector< Obstacle > obstacles;
virtual void SetObstacles(std::vector< Obstacle > obstacles)
{
this->obstacles = obstacles;
}
virtual fvec Avoid(fvec &x, fvec &xdot)
{
fvec newXDot;
newXDot.resize(2);
newXDot = xdot;
return newXDot;
};
virtual fVec Avoid(fVec &x, fVec &xdot)
{
fvec vx=x, vxdot=xdot;
return fVec(Avoid(vx, vxdot));
}
};
#endif // _OBSTACLES_H_
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