tpbvpsolver/hkSolver.h

#ifndef INCLUDE_NAVLIB_HKSOLVER
#define INCLUDE_NAVLIB_HKSOLVER

#include "tpbvpSolver.h"

namespace navlib
{
        class HKPath : public Path
        {
                friend class HKSolver;

        public:
                HKPath() : _a(0.0), _b(0.0), _c(0.0), _d(1.0) {}
                HKPath(const PathPoint& wp0, double a, double b, double c, double d);
                virtual ~HKPath() {}
                Path* copy();
                double getA() const;
                double getB() const;
                double getC() const;
                double getLength() const;
                PathPoint getPathPoint(double d) const;
                std::vector<PathPoint> getPathPoints(unsigned int n=0) const;
                unsigned int getWindingNumber();
                void read(istream& is);
                void write(ostream& os) const;

        private:
                double _a; 
                double _b; 
                double _c; 
                double _d; 
        };

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

        private:
                HKPath* getPath(PathPoint wp0, PathPoint wpf, double a, double b, double c);
                
                double _timeout; 
        };
}

#endif

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