linear_interpolator.H

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

#ifndef CAJUN_LINEAR_INTERPOLATOR_H
#define CAJUN_LINEAR_INTERPOLATOR_H

#include "base_interpolator.H"
#include "conf.H"
#include <vector>

namespace cajun
{
        class linear_interpolator_t: public base_interpolator_t
        {
        public:
                linear_interpolator_t (double interp_dis_);
                void interpolate (uniform_path_t const &input_path,
                                  uniform_path_t &output_path);
                void interpolate_wp (const waypoint_t *start_wp,
                                     const waypoint_t *end_wp,
                                     uniform_path_t &output_path);
        private:
                bool read_conf (const conf_t &conf);
                void copy_wp (const waypoint_t source_wp,
                              uniform_path_t &output_path);
                void add_wp_at_dis (const waypoint_t *start_wp,
                                    const waypoint_t *end_wp,
                                    double dis,
                                    uniform_path_t &output_path);
        };
};


#endif

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