guide_mode.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_GUIDE_MODE_H
#define CAJUN_GUIDE_MODE_H


#include "data_type.H"
#include "uniform_path.H"
#include "integral.H"

namespace cajun
{
        class guide_mode_t
        {
        public:
                virtual ~guide_mode_t (){}
                virtual 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) = 0;
        protected:
                void compute_guide_values (guide_data_t &gd,
                                           waypoint_t goal_wp,
                                           double x, double y,
                                           double heading);
                void set_default_guide_values (guide_data_t &gd, double x,
                                               double y, double heading);
        };
};


#endif

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