Path.hpp

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// Algorithm details and publications: http://www.golems.org/node/1570
 
#ifndef DART_PLANNING_PATH_HPP_
#define DART_PLANNING_PATH_HPP_
 
#include <list>
#include <Eigen/Core>
 
namespace dart {
namespace planning {
 
class PathSegment
{
public:
    PathSegment(double length = 0.0) :
    position(0.0), length(length)
    {
    }
    
    virtual ~PathSegment() {}
 
    double getLength() const {
        return length;
    }
    virtual Eigen::VectorXd getConfig(double s) const = 0;
    virtual Eigen::VectorXd getTangent(double s) const = 0;
    virtual Eigen::VectorXd getCurvature(double s) const = 0;
    virtual std::list<double> getSwitchingPoints() const = 0;
    virtual PathSegment* clone() const = 0;
 
    double position;
protected:
    double length;
};
 
 
 
class Path
{
public:
    Path(const std::list<Eigen::VectorXd> &path, double maxDeviation = 0.0);
    Path(const Path &path);
    ~Path();
    double getLength() const;
    Eigen::VectorXd getConfig(double s) const;
    Eigen::VectorXd getTangent(double s) const;
    Eigen::VectorXd getCurvature(double s) const;
    double getNextSwitchingPoint(double s, bool &discontinuity) const;
    std::list<std::pair<double, bool> > getSwitchingPoints() const;
private:
    PathSegment* getPathSegment(double &s) const;
    double length;
    std::list<std::pair<double, bool> > switchingPoints;
    std::list<PathSegment*> pathSegments;
};
 
} // namespace planning
} // namespace dart
 
#endif // DART_PLANNING_PATH_HPP_