src/smp/components/extenders/dubins.h

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#ifndef _SMP_SYSTEM_DUBINS_H_
#define _SMP_SYSTEM_DUBINS_H_


#include <smp/components/extenders/state_array_double.h>
#include <smp/components/extenders/input_array_double.h>
#include <smp/components/extenders/base.h>

#include <list>

using namespace std;


namespace smp {


    class state_dubins : public state_array_double <3> {
    
    };




    class input_dubins : public input_array_double<2> {


    };



    template< class typeparams >
    class extender_dubins : public extender_base<typeparams> {



        typedef typename typeparams::state state_t;
        typedef typename typeparams::input input_t;
        typedef typename typeparams::vertex_data vertex_data_t;
        typedef typename typeparams::edge_data edge_data_t;

        typedef vertex<typeparams> vertex_t;
        typedef edge<typeparams> edge_t;

        typedef trajectory<typeparams> trajectory_t;

        int extend_dubins_spheres (double x_s1, double y_s1, double t_s1, 
                                   double x_s2, double y_s2, double t_s2, int comb_no,
                                   int *fully_extends, list<state_t *> *list_states, list<input_t *> *list_inputs);
    
        double extend_dubins_all (state_t *state_ini, state_t *state_fin, 
                                  int *fully_extends, list<state_t *> *list_states_out, list<input_t *> *list_inputs_out);
    

    public :

        extender_dubins ();
        ~extender_dubins ();
    

        int ex_update_insert_vertex (vertex_t *vertex_in);
    

        int ex_update_insert_edge (edge_t *edge_in);  


        int ex_update_delete_vertex (vertex_t *vertex_in);
    
    
        int ex_update_delete_edge (edge_t *edge_in);

   
        int extend (state_t *state_from_in, state_t *state_towards_in,
                    int *exact_connection_out, trajectory_t *trajectory_out,
                    list<state_t*> *intermediate_vertices_out);
    
    };


}

#endif