motion_cache.h

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/*
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#ifndef PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H
#define PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H
 
#include <memory>
#include <list>
#include <unordered_map>
#include <vector>
 
#include <planner_cspace/cyclic_vec.h>
 
namespace planner_cspace
{
namespace planner_3d
{
class MotionCache
{
public:
  class Page
  {
  protected:
    friend class MotionCache;
 
    std::vector<CyclicVecInt<3, 2>> motion_;
    std::vector<CyclicVecFloat<3, 2>> interpolated_motion_;
    float distance_;
 
  public:
    inline float getDistance() const
    {
      return distance_;
    }
    const std::vector<CyclicVecInt<3, 2>>& getMotion() const
    {
      return motion_;
    }
    const std::vector<CyclicVecFloat<3, 2>>& getInterpolatedMotion() const
    {
      return interpolated_motion_;
    }
  };
 
  using Cache =
      std::unordered_map<CyclicVecInt<3, 2>, Page, CyclicVecInt<3, 2>>;
 
  using Ptr = std::shared_ptr<MotionCache>;
 
  inline const typename Cache::const_iterator find(
      const int start_yaw,
      const CyclicVecInt<3, 2>& goal) const
  {
    int i = start_yaw % page_size_;
    if (i < 0)
      i += page_size_;
    return cache_[i].find(goal);
  }
  inline const typename Cache::const_iterator find(
      const CyclicVecInt<3, 2>& from,
      const CyclicVecInt<3, 2>& to) const
  {
    const int start_yaw = from[2];
    const CyclicVecInt<3, 2> goal(to[0] - from[0], to[1] - from[1], to[2]);
    return find(start_yaw, goal);
  }
  inline const typename Cache::const_iterator end(
      const int start_yaw) const
  {
    int i = start_yaw % page_size_;
    if (i < 0)
      i += page_size_;
    return cache_[i].cend();
  }
 
  inline const CyclicVecInt<3, 2>& getMaxRange() const
  {
    return max_range_;
  }
 
  void reset(
      const float linear_resolution,
      const float angular_resolution,
      const int range,
      const std::function<void(CyclicVecInt<3, 2>, size_t&, size_t&)> gm_addr,
      const float interpolation_resolution,
      const float grid_enumeration_resolution);
 
  std::list<CyclicVecFloat<3, 2>> interpolatePath(const std::list<CyclicVecInt<3, 2>>& path_grid) const;
 
protected:
  std::vector<Cache> cache_;
  int page_size_;
  CyclicVecInt<3, 2> max_range_;
};
}  // namespace planner_3d
}  // namespace planner_cspace
 
#endif  // PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H