path_planning.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_PATH_PLANNING_H_
#define FIELDS2COVER_PATH_PLANNING_PATH_PLANNING_H_
 
#include <utility>
#include <vector>
#include "fields2cover/types.h"
#include "fields2cover/path_planning/turning_base.h"
 
namespace f2c::pp {
 
class PathPlanning {
 public:
  static F2CPath planPath(const F2CRobot& robot, const F2CRoute& route,
      TurningBase& turn);
 
  static F2CPath planPath(const F2CRobot& robot, const F2CSwaths& swaths,
      TurningBase& turn);
 
  static F2CPath planPathForConnection(const F2CRobot& robot,
      const F2CSwaths& s1, const F2CMultiPoint& mp, const F2CSwaths& s2,
      TurningBase& turn);
 
  static F2CPath planPathForConnection(const F2CRobot& robot,
      const F2CPoint& p1, double ang1,
      const F2CMultiPoint& mp,
      const F2CPoint& p2, double ang2,
      TurningBase& turn);
 
 private:
  static double getSmoothTurningRadius(const F2CRobot& robot);
  static std::vector<std::pair<F2CPoint, double>> simplifyConnection(
      const F2CRobot& robot,
      const F2CPoint& p1, double ang1,
      const F2CMultiPoint& mp,
      const F2CPoint& p2, double ang2);
};
 
}  // namespace f2c::pp
 
#endif  // FIELDS2COVER_PATH_PLANNING_PATH_PLANNING_H_