configuration.hpp

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/*********************************************************************
*  Copyright (c) 2017 - for information on the respective copyright
*  owner see the NOTICE file and/or the repository
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*      https://github.com/hbanzhaf/steering_functions.git
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*  Licensed under the Apache License, Version 2.0 (the "License");
*  you may not use this file except in compliance with the License.
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*      http://www.apache.org/licenses/LICENSE-2.0
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*  implied. See the License for the specific language governing
*  permissions and limitations under the License.

*  This source code is derived from Continuous Curvature (CC) Steer.
*  Copyright (c) 2016, Thierry Fraichard and Institut national de
*  recherche en informatique et en automatique (Inria), licensed under
*  the BSD license, cf. 3rd-party-licenses.txt file in the root
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#ifndef CONFIGURATION_HPP
#define CONFIGURATION_HPP

namespace steering
{

class Configuration
{
public:
  Configuration(double _x = 0.0, double _y = 0.0, double _theta = 0.0, double _kappa = 0.0);

  void print(bool eol) const;

  double x, y;

  double theta;

  double kappa;
};

double configuration_distance(const Configuration &q1, const Configuration &q2);

bool configuration_aligned(const Configuration &q1, const Configuration &q2);

bool configuration_equal(const Configuration &q1, const Configuration &q2);

} // namespace steering

#endif