path_interpolator.h

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/*
 * Copyright (c) 2019, the neonavigation authors
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#ifndef PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H
#define PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H

#include <list>

#include <planner_cspace/cyclic_vec.h>
#include <planner_cspace/planner_3d/rotation_cache.h>

class PathInterpolator
{
private:
  RotationCache rot_cache_;
  int range_;
  int angle_;

public:
  inline void reset(
      const float angular_resolution,
      const int range)
  {
    range_ = range;
    angle_ = std::lround(M_PI * 2 / angular_resolution);
    rot_cache_.reset(1.0, angular_resolution, range);
  }
  std::list<CyclicVecFloat<3, 2>> interpolate(
      const std::list<CyclicVecInt<3, 2>>& path_grid,
      const float interval,
      const int local_range) const;
};

#endif  // PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H