draw_path_exploration.H

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// Copyright (C) 2004 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Nitin, Arun Pratap

#ifndef CAJUN_DRAW_PATH_EXPLORATION_H
#define CAJUN_DRAW_PATH_EXPLORATION_H

#include "data_queue.H"
#include "cbviz_util.H"
#include "conf.H"
#include "component_interface.H"
#include <vector>

namespace cajun
{
        class draw_path_exploration_t : public component_interface_t
        {
        public:
                draw_path_exploration_t (double cbviz_origin[3], conf_t &conf,
                                int id, world_state_t *ws_);
                virtual ~draw_path_exploration_t () {;};
                void toggle_display ();
                void update_data (double bot_pos_[3]);
                void display (double bot_pos[3]);
        private:
                bool read_path_wp ();
                path_data_t m_path_data;
                nav_data_t m_nav;
                int m_id;
                bool m_line_from_bot;
                double m_flag_posy;
                bool m_display_wp_number;
                void select_color (unsigned pi);
                struct point_p_t
                {
                        double x1, y1;
                        double x2, y2;
                };
                std::vector<point_p_t> m_pt_list;
                void read_from_file ();
        };
}
#endif

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