33 #ifndef PARAM_FUNC_DIST_H 34 #define PARAM_FUNC_DIST_H 105 virtual void computeS2TLattice(
const std::vector<double>& _sLattice, std::vector<double>& _tLattice) = 0;
116 virtual void computeS2TLattice(
const double& _arc0,
const double& _ds, std::vector<double>& _tLattice) = 0;
120 #endif // PARAM_FUNC_DIST_H no closed-form distance computation mode
TraveledDistCfMode
Required type of traveled distance computation relative to the parametric function.
virtual ~ParamFuncsDist()=default
agent base center linear acceleration is parametric function
ParamFuncsDist & operator=(const ParamFuncsDist &_other)=default
virtual void setEvalDist(const double &_funcsDistEval, const ParamFuncs::EvalArcGuarantee &_evalArcGuarantee=ParamFuncs::EvalArcGuarantee::NONE)=0
Moves to evaluation arc at which the traveled distance _funcsDistEval is achieved.
virtual void setDistCfMode(TraveledDistCfMode _distCfMode, const std::vector< std::size_t > &_distRelFuncIdx)=0
Initializer of the Closed form distance computation mode.
std::shared_ptr< ParamFuncsDist const > ParamFuncsDistConstPtr
virtual void computeS2TLattice(const std::vector< double > &_sLattice, std::vector< double > &_tLattice)=0
Computes arc parametrization lattice given a distance-parametrized lattice.
EvalArcGuarantee
Flags if any guarantees about evaluation arc relative to last evaluation arc are present.
virtual double computeT(const double &_s, const ParamFuncs::EvalArcGuarantee &_evalArcGuarantee=ParamFuncs::EvalArcGuarantee::NONE)=0
virtual double computeS() const =0
Extends manipulation of parametric functions collection with closed-form arc length (distance) comput...
std::shared_ptr< ParamFuncsDist > ParamFuncsDistPtr
agent base center linear velocity is parametric function
Storage and manipulation of parametric functions collection.