motion_cache.h

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/*
 * Copyright (c) 2018-2019, the neonavigation authors
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#ifndef PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H
#define PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H

#include <memory>
#include <unordered_map>
#include <vector>

#include <planner_cspace/cyclic_vec.h>

namespace planner_cspace
{
namespace planner_3d
{
class MotionCache
{
public:
  class Page
  {
  protected:
    friend class MotionCache;

    std::vector<CyclicVecInt<3, 2>> motion_;
    float distance_;

  public:
    inline float getDistance() const
    {
      return distance_;
    }
    const std::vector<CyclicVecInt<3, 2>>& getMotion() const
    {
      return motion_;
    }
  };

  using Cache =
      std::unordered_map<CyclicVecInt<3, 2>, Page, CyclicVecInt<3, 2>>;

  using Ptr = std::shared_ptr<MotionCache>;

  inline const typename Cache::const_iterator find(
      const int start_yaw,
      const CyclicVecInt<3, 2>& goal) const
  {
    int i = start_yaw % page_size_;
    if (i < 0)
      i += page_size_;
    return cache_[i].find(goal);
  }
  inline const typename Cache::const_iterator end(
      const int start_yaw) const
  {
    int i = start_yaw % page_size_;
    if (i < 0)
      i += page_size_;
    return cache_[i].cend();
  }

  inline const CyclicVecInt<3, 2>& getMaxRange() const
  {
    return max_range_;
  }

  void reset(
      const float linear_resolution,
      const float angular_resolution,
      const int range,
      const std::function<void(CyclicVecInt<3, 2>, size_t&, size_t&)> gm_addr);

protected:
  std::vector<Cache> cache_;
  int page_size_;
  CyclicVecInt<3, 2> max_range_;
};
}  // namespace planner_3d
}  // namespace planner_cspace

#endif  // PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H