tpbvpsolver/dubinsSolver.h

#ifndef INCLUDE_NAVLIB_DUBINSSOLVER
#define INCLUDE_NAVLIB_DUBINSSOLVER

#include "tpbvpSolver.h"

namespace navlib
{
        class DubinsC : public Path
        {
        public:
                DubinsC(PathPoint wp0, double turnRadius, double theta);
                bool collides(const Shape* body, std::vector<Point> obstacles);
                Path* copy();
                PathPoint getPathPoint(double d) const;
                double getLength() const;

        private:
                double _r; 
                double _theta; 
        };

        class DubinsS : public Path
        {
        public:
                DubinsS(PathPoint wp0, double d);
                Path* copy();
                PathPoint getPathPoint(double d) const;
                double getLength() const;

        private:
                double _d; 
        };

        class DubinsSolver : public TpbvpSolver
        {
        public:
                DubinsSolver(double turnRadius);
                virtual ~DubinsSolver() {};
                Path* getPath(const PathPoint& wp0, const PathPoint& wpf);

        private:
                // The tangent must follow the rotational direction of both circles.
                bool getTangent(Point p0, bool ccw0, Point pf, bool ccwf, Point& t0, 
                        Point& tf);
                
                double _r; 
        };
}

#endif

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