draw_iteris.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Christopher Mire

#ifndef CAJUN_DRAW_ITERIS_H
#define CAJUN_DRAW_ITERIS_H

#include "conf.H"
#include "cbviz_util.H"
#include "component_interface.H"
#include "iteris_lane_util.H"

namespace cajun
{
        class draw_iteris_t: public component_interface_t
        {
        public:
                draw_iteris_t (double cbviz_origin[3], conf_t &conf,
                               world_state_t *ws_);
                virtual  ~draw_iteris_t() {;};
                void update_data (double bot_pos_[3]);
                void display(double bot_pos[3]);
                void toggle_display ();
        private:
                void draw_curved_lane (double x0_, double y0_, double x1_,
                                       double y1_, double bot_pos_[3]);

                iteris_lane_data_t m_iteris_data;
                motion_data_t m_motion_data;
                double m_lane_pos[3];
                double m_new_pos[3];
                std::vector <point_t> m_arc_points;
        };
};
#endif

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