pathTool.hpp

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#ifndef REDNAV_LIBS_PATH_TOOL_HPP
#define REDNAV_LIBS_PATH_TOOL_HPP

// For the definition of jafar::lgl::NavPath
#include <lgl/NavGraph.hpp>
#include <lgl/Attributes.hpp>


namespace jafar {
namespace rednav {

  typedef enum { 
    PATH_TWO_POINTS=1,
    PATH_THREE_POINTS,
    PATH_FOUR_POINTS,
    PATH_COMMON_FILTER,   // Apply subsampling and max number of points
    PATH_RDV_CROP,
    PATH_TWO_POINTS_LIMIT,
    PATH_DISTANCE_LIMIT,
    PATH_INTERPOLATION,
    PATH_SAFESAMPLING,
    PATH_SMARTSAMPLING
  } PATH_TRANSFORMATION;

  class PathTool {
    private:
    //{{{
      double subsampler;

      int maxwaypts;

      double pathMaxEntropy;

      double pathMaxProba;

      double cellScale;

      double geoXRoot;

      double geoYRoot;

      double pathMaxDistance;

      double pathMaxStepDistance;

      double pathMaxDevDistance;

      double sensorRadius;

      int interpolationStartPointIdx;

      int interpolationStopPointIdx;

      double interpolationDistance;

      jafar::lgl::NavGraph* navgraph;
    //}}}

    public:
    //{{{
      PathTool();

      PathTool(jafar::lgl::NavPath&, PATH_TRANSFORMATION, jafar::lgl::NavGraph* ng_=NULL);

      ~PathTool();

      bool applyTool(const jafar::lgl::NavPath& src, jafar::lgl::NavPath& out, PATH_TRANSFORMATION patid);

      bool twoPoints(const jafar::lgl::NavPath& src, jafar::lgl::NavPath& out);

      bool subSample(const jafar::lgl::NavPath& src, jafar::lgl::NavPath& out, double subsamp);

      bool cropPath(double vent, double vproba, jafar::lgl::NavPath& navpath);

      bool cropPath(const jafar::lgl::NavPath& srcPath, jafar::lgl::NavPath& outPath);

      bool twoPointsFromCurve(const jafar::lgl::NavPath& src, jafar::lgl::NavPath& out);

      bool cropDistance(const jafar::lgl::NavPath& src, jafar::lgl::NavPath& out, double cropDistance);

      bool pathInterpolation(const jafar::lgl::NavPath& src, jafar::lgl::NavPath& out, double smallestInterval, int masterP1, int masterP2);

      bool pathSafeSampling(const jafar::lgl::NavPath& src, jafar::lgl::NavPath& out);

      bool pathSmartSampling(const jafar::lgl::NavPath& src, jafar::lgl::NavPath& out);

      //-----------------------------------------------------/

      double navLocToMeters(int a);

      double navLocDistance(const jafar::lgl::NavLocation& A, const jafar::lgl::NavLocation& B);

      double shortestAxisDistance(const jafar::lgl::NavLocation& A, const jafar::lgl::NavLocation& B);

      double getOrthogonalHeight(const jafar::lgl::NavLocation& A, const jafar::lgl::NavLocation& B, const jafar::lgl::NavLocation& C);

      bool surroundingsDanger(const jafar::lgl::NavLocation& A, float& fodist);

      //-----------------------------------------------------/
      //--- set stuffs 

      void setMaxWayPts(int n);

      void setPathMaxEntropy(double pme);

      void setPathMaxProba(double pmp);

      void setScale(double cellres);

      void setGeoXRoot(double gxroot);

      void setGeoYRoot(double gyroot);

      void setSubSampler(double setsb);

      void setPathMaxDistance(double pmd);

      void setPathMaxStepDistance(double pmd);

      void setPathMaxDevDistance(double pmd);

      void setSensorRadius(double ssd);
      
      void setInterpolationStartPointIdx(int);

      void setInterpolationStopPointIdx(int);

      void setInterpolationDistance(double);


      void setNavGraph(jafar::lgl::NavGraph* ng);

      //-----------------------------------------------------/
      //--- get stuffs 

      double getPathMaxEntropy();

      double getPathMaxProba();

      double getSubSampler();

      double getPathMaxDistance();

      double getPathMaxStepDistance();

      double getPathMaxDevDistance();

      double getSensorRadius();

      double getScale();

      double getGeoXRoot();

      double getGeoYRoot();

      int getInterpolationStartPointIdx();

      int getInterpolationStopPointIdx();
    //}}}

  };
}} // end of namespaces

#endif //REDNAV_LIBS_PATH_TOOL_HPP