.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_Interpolate.hpp:

Program Listing for File Interpolate.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_Interpolate.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/agv/Interpolate.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2019 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef RMF_TRAFFIC__AGV__INTERPOLATE_HPP
   #define RMF_TRAFFIC__AGV__INTERPOLATE_HPP
   
   #include <rmf_traffic/Trajectory.hpp>
   
   #include <rmf_traffic/agv/VehicleTraits.hpp>
   
   namespace rmf_traffic {
   namespace agv {
   
   //==============================================================================
   class invalid_traits_error : public std::exception
   {
   public:
   
     const char* what() const noexcept override;
   
     class Implementation;
   private:
     invalid_traits_error();
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   class Interpolate
   {
   public:
   
     class Options
     {
     public:
   
       Options(
         bool always_stop = false,
         double translation_thresh = 1e-3,
         double rotation_thresh = 1.0* M_PI/180.0,
         double corner_angle_thresh = 1.0* M_PI/180.0);
   
       Options& set_always_stop(bool choice);
       bool always_stop() const;
   
       Options& set_translation_threshold(double dist);
   
       double get_translation_threshold() const;
   
       Options& set_rotation_threshold(double angle);
   
       double get_rotation_threshold() const;
   
       Options& set_corner_angle_threshold(double angle);
   
       double get_corner_angle_threshold() const;
   
       // TODO(MXG): The current behavior of Interpolate::positions() is to
       // interpolate the (x,y) position and then interpolate the orientation. We
       // should add a field to the Options that allows users to choose whether
       // they want to interpolate using the current behavior or if they would
       // rather interpolate positions and orientation in perfect sync, or whether
       // they would rather interpolate positions and orientations concurrently at
       // their nominal speeds.
   
       class Implementation;
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
     static Trajectory positions(
       const VehicleTraits& traits,
       Time start_time,
       const std::vector<Eigen::Vector3d>& input_positions,
       const Options& options = Options());
   
   };
   
   //==============================================================================
   struct TimeVelocity
   {
     Time time;
     Eigen::Vector2d velocity;
   };
   
   //==============================================================================
   TimeVelocity interpolate_time_along_quadratic_straight_line(
     const Trajectory& trajectory,
     const Eigen::Vector2d& position,
     double holding_point_tolerance = 0.05);
   
   } // namespace agv
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__AGV__INTERPOLATE_HPP