motion_primitive_builder.h

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#ifndef PLANNER_CSPACE_PLANNER_3D_MOTION_PRIMITIVE_BUILDER_H
#define PLANNER_CSPACE_PLANNER_3D_MOTION_PRIMITIVE_BUILDER_H

#include <vector>

#include <costmap_cspace_msgs/MapMetaData3D.h>
#include <planner_cspace/cyclic_vec.h>
#include <planner_cspace/planner_3d/grid_astar_model.h>

namespace planner_cspace
{
namespace planner_3d
{
class MotionPrimitiveBuilder
{
public:
  using Vec = CyclicVecInt<3, 2>;
  using Vecf = CyclicVecFloat<3, 2>;

  static std::vector<std::vector<Vec>> build(const costmap_cspace_msgs::MapMetaData3D& map_info,
                                             const CostCoeff& cc, const int range);

private:
};
}  // namespace planner_3d
}  // namespace planner_cspace

#endif  // PLANNER_CSPACE_PLANNER_3D_MOTION_PRIMITIVE_BUILDER_H