Mobility.h

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// -*- C++ -*-

#ifndef __MOBILITY_H__
#define __MOBILITY_H__

#include <vector>
#include "Configuration.h"

namespace PathEngine {
  class PathPlanner;
  
  class Mobility {
  protected:
    PathPlanner* planner_;
  public:
    Mobility(PathPlanner* planner) {planner_ = planner;}

    virtual ~Mobility() {;}

    virtual bool getPath(Configuration &from, Configuration &to,
                         std::vector<Configuration> &o_path) const; 

    virtual bool isReversible() const = 0;

    bool isReachable(Configuration& from, Configuration& to, bool checkCollision=true) const;

    virtual Configuration interpolate(const Configuration& from, const Configuration& to, double ratio) const = 0;

    virtual double distance(const Configuration& from, const Configuration& to) const = 0;
    static void interpolationDistance(double d) { interpolationDistance_ = d;}

    static double interpolationDistance() { return interpolationDistance_;}
  private:
    static double interpolationDistance_;
  };

  typedef Mobility* (*MobilityNewFunc)(PathPlanner* planner);

  typedef void (*MobilityDeleteFunc)(Mobility* mobility);

  template <class _New>
  Mobility* MobilityCreate(PathPlanner* planner) {
    return new _New(planner);
  }

  template <class _Delete>
  void MobilityDelete(Mobility* mobility) {
    delete mobility;
  }
};
#endif // __MOBILITY_H__