00001 #include "aalgorithm.h"
00002 #include "path_simplifier.h"
00003 #include "pathqueue.h"
00004 #include "map.h"
00005 #include <stdlib.h>
00006 #include <math.h>
00069 #define PP_ERROR_MAP_NOT_INIT -1
00070 #define PP_ERROR_GOAL_IS_OBSTACLE -2
00071 #define PP_ERROR_GOAL_NOT_REACHABLE -3
00072
00074 #ifdef __cplusplus
00075 extern "C" {
00076 #endif
00077
00078 int path_planner(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real , PathPoint ** simple_path, double * angle);
00079 #ifdef __cplusplus
00080 }
00081 #endif
00082
00083
