base_interpolator.H

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

//TODO: Need to move it common place


#ifndef CAJUN_BASE_INTERPOLATOR_H
#define CAJUN_BASE_INTERPOLATOR_H

#include <vector>

namespace cajun
{
        class base_interpolator_t
        {
        public:
                struct waypoint_t
                {
                        double x;
                        double y;
                        double min_speed;
                        double max_speed;
                        double azimuth;
                };
                typedef std::vector<waypoint_t> uniform_path_t;

                double m_interp_dis;

                base_interpolator_t () {}
                virtual ~base_interpolator_t () {}

                virtual void interpolate (uniform_path_t const &input_path,
                                          uniform_path_t &output_path) = 0;
                virtual void interpolate_wp (const waypoint_t *start_wp,
                                             const waypoint_t *end_wp,
                                             uniform_path_t &output_path) = 0;
                double get_inter_dis () { return m_interp_dis; }
        };
};

#endif

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