hc_reeds_shepp_state_space.hpp

Go to the documentation of this file.

/*********************************************************************
*  Copyright (c) 2017 Robert Bosch GmbH.
*  All rights reserved.
*
*  Licensed under the Apache License, Version 2.0 (the "License");
*  you may not use this file except in compliance with the License.
*  You may obtain a copy of the License at
*
*      http://www.apache.org/licenses/LICENSE-2.0
*
*  Unless required by applicable law or agreed to in writing, software
*  distributed under the License is distributed on an "AS IS" BASIS,
*  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
*  See the License for the specific language governing permissions and
*  limitations under the License.
* *********************************************************************/

#ifndef HC_REEDS_SHEPP_STATE_SPACE_HPP
#define HC_REEDS_SHEPP_STATE_SPACE_HPP

#include <vector>

#include "steering_functions/hc_cc_state_space/hc_cc_state_space.hpp"
#include "steering_functions/hc_cc_state_space/paths.hpp"
#include "steering_functions/hc_cc_state_space/hc00_reeds_shepp_state_space.hpp"
#include "steering_functions/hc_cc_state_space/hc0pm_reeds_shepp_state_space.hpp"
#include "steering_functions/hc_cc_state_space/hcpm0_reeds_shepp_state_space.hpp"
#include "steering_functions/hc_cc_state_space/hcpmpm_reeds_shepp_state_space.hpp"
#include "steering_functions/steering_functions.hpp"

namespace steering
{

class HC_Reeds_Shepp_State_Space : public HC_CC_State_Space
{
public:
  HC_Reeds_Shepp_State_Space(double kappa, double sigma, double discretization = 0.1);

  std::vector<std::pair<State, Control>> predict_state(const State& state) const;

  double get_distance(const State& state1, const State& state2) const;

  std::vector<Control> get_controls(const State& state1, const State& state2) const;

private:
  HC00_Reeds_Shepp_State_Space hc00_reeds_shepp_state_space_;
  HC0pm_Reeds_Shepp_State_Space hc0pm_reeds_shepp_state_space_;
  HCpm0_Reeds_Shepp_State_Space hcpm0_reeds_shepp_state_space_;
  HCpmpm_Reeds_Shepp_State_Space hcpmpm_reeds_shepp_state_space_;
};

} // namespace steering

#endif