ftc_guide.H

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// Copyright (C) 2005 Pablo Mejia
// Copyright (C) 2005 University of Louisiana at Lafayette
// Authors: Pablo Mejia, Suresh Golconda

#ifndef CAJUN_FTC_GUIDE_H
#define CAJUN_FTC_GUIDE_H

#include "guide_mode.H"
#include "conf.H"

namespace cajun
{
        class ftc_guide_t : public guide_mode_t
        {
        private:
                double m_look_ahead_time;
                double m_min_LH_distance;
                double m_max_LH_distance;
                bool m_selective_rounding; //false dont round off critical wp

                bool read_conf (const conf_t &conf);
                void get_drive_point_position (waypoint_t &goal_wp);
                bool can_look_beyond_wp (const uniform_path_t &goal_data,
                                         unsigned goal_index);
                void track_with_drive_point (double look_ahead_distance,
                                             const uniform_path_t &goal_data,
                                             unsigned &goal_index,
                                             double x, double y,
                                             double &distance_from_next_wp,
                                             double heading);
                void get_drive_point (waypoint_t &goal_wp,
                                      waypoint_t next_path_wp,
                                      double distance_from_next_wp);
        public:
                ftc_guide_t (const conf_t &conf){read_conf (conf);}
                void guide (guide_data_t &gd, const uniform_path_t &goal_data,
                            unsigned goal_index, double x, double y,
                            double heading, double speed, bool valid_path,
                            bool forward, bool tight_path, double tstamp);

        };
};
#endif

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