Pose.hpp

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// Copyright (C) 2021 COGIP Robotics association <cogip35@gmail.com>
// This file is subject to the terms and conditions of the GNU Lesser
// General Public License v2.1. See the file LICENSE in the top level
// directory for more details.
 
 
#pragma once
 
#include "cogip_defs/Pose.hpp"
#include "utils.hpp"
 
#include "PB_PathPose.hpp"
 
namespace cogip {
 
namespace path {
 
class Pose : public cogip_defs::Pose {
public:
    Pose(
        double x=0.0,                   
        double y=0.0,                   
        double O=0.0,                   
        double max_speed_ratio_linear=0.0,  
        double max_speed_ratio_angular=0.0, 
        bool allow_reverse=true,        
        bool bypass_antiblocking=false, 
        uint32_t timeout_ms=0,          
        bool bypass_final_orientation=false 
        );
 
    virtual ~Pose() {};
 
    virtual double max_speed_ratio_linear() const { return max_speed_ratio_linear_; };
 
    virtual double max_speed_ratio_angular() const { return max_speed_ratio_angular_; };
 
    virtual bool allow_reverse() const { return allow_reverse_; };
 
    virtual void set_allow_reverse(
        bool enable               
        ) { allow_reverse_ = enable; };
 
    virtual bool bypass_anti_blocking() const { return bypass_anti_blocking_; }
 
    virtual uint32_t timeout_ms() const { return timeout_ms_; }
 
    virtual bool bypass_final_orientation() const { return bypass_final_orientation_; }
 
    void pb_read(
        const PB_PathPose &path_pose  
    );
 
    void pb_copy(
        PB_PathPose &path_pose    
        ) const;
 
    bool operator==(const Pose& other) {
        return (
            areDoublesEqual(x(), other.x()) &&
            areDoublesEqual(y(), other.y()) &&
            areDoublesEqual(O(), other.O()) &&
            areDoublesEqual(max_speed_ratio_linear(), other.max_speed_ratio_linear()) &&
            areDoublesEqual(max_speed_ratio_angular(), other.max_speed_ratio_angular()) &&
            allow_reverse() == other.allow_reverse() &&
        bypass_anti_blocking() == other.bypass_anti_blocking() &&
            timeout_ms() == other.timeout_ms() &&
            bypass_final_orientation() == other.bypass_final_orientation()
        );
    };
 
private:
    double max_speed_ratio_linear_; 
    double max_speed_ratio_angular_;
    bool allow_reverse_;            
    bool bypass_anti_blocking_;     
    uint32_t timeout_ms_;           
    bool bypass_final_orientation_; 
};
 
} // namespace path
 
} // namespace cogip