dubins_curves_cc.h

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//=============================================================================
//    Copyright (C) 2021-2024 Wageningen University - All Rights Reserved
//                     Author: Gonzalo Mier
//                        BSD-3 License
//=============================================================================
 
#pragma once
#ifndef FIELDS2COVER_PATH_PLANNING_DUBINS_CURVES_CC_H_
#define FIELDS2COVER_PATH_PLANNING_DUBINS_CURVES_CC_H_
 
#include "fields2cover/types.h"
#include "fields2cover/path_planning/turning_base.h"
 
namespace f2c::pp {
 
class DubinsCurvesCC : public TurningBase {
 public:
  F2CPath createSimpleTurn(const F2CRobot& robot,
      double dist_start_pos, double start_angle,
      double end_angle) override;
  F2CPath createConstrainedTurn(const F2CRobot& robot,
      const F2CPoint& start_pos, double start_angle, double start_curvature,
      const F2CPoint& end_pos, double end_angle, double end_curvature, const bool fix_loops=false);
};
 
}  // namespace f2c::pp
 
#endif  // FIELDS2COVER_PATH_PLANNING_DUBINS_CURVES_CC_H_