splinecomputationconfig.h

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/*
* Copyright 2015 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/

// primary contact: LAPA - secondary contact: MUBI
#ifndef Navigation_SplineConfig_H
#define Navigation_SplineConfig_H

#include "gwnavruntime/pathfollower/radiusprofile.h"

#include "gwnavruntime/base/memory.h"
#include "gwnavruntime/math/vec2f.h"
#include "gwnavruntime/math/vec3f.h"
#include "gwnavruntime/containers/kyarray.h"


namespace Kaim
{

class SplineComputationConfigBlob;

class AdvancedSplineComputationConfig
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Bot)

public:
    AdvancedSplineComputationConfig() { SetDefaults(); }
    void SetDefaults();

    bool operator==(const AdvancedSplineComputationConfig& other) const;
    bool operator!=(const AdvancedSplineComputationConfig& other) const { return !operator==(other); }

public:
    KyFloat32 m_arcMinLength;

    KyFloat32 m_fullTurnTolerance;
};

class SplineComputationConfig
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Bot)

public:
    SplineComputationConfig() { SetDefaults(); }
    void SetDefaults();
    KyResult InitFromBlob(const SplineComputationConfigBlob& blob);
    bool operator==(const SplineComputationConfig& other) const;
    bool operator!=(const SplineComputationConfig& other) const { return !operator==(other); }

    KyResult SetDistanceToInnerCornerFunctionPoints(const KyArray<Vec2f>& points);

    // Computes distance to inner corner for the given channelWidth, accordingly
    // to the piecewise affine function defined by its choke points.
    KyFloat32 GetDistanceToInnerCorner(KyFloat32 channelWidth) const;

private:
    // This internal method is called by main API InitFromBlob() and the KyArray<>-based
    // functions. It actually checks points validity and sets up the function parameters.
    KyResult SetDistanceToInnerCornerFunctionPoints(const Vec2f* points, KyUInt32 pointCount);


public:
    RadiusProfileArray m_radiusProfileArray;

    KyFloat32 m_length;

    KyFloat32 m_startAndEndConstraintTurnMaxAngle;

    AdvancedSplineComputationConfig m_advancedConfig;

public: // Internal:

    // -------------------- Ideal distances to Channel borders --------------------


    /************************************************************************************/
    /*  d                                          :                                    */
    /*   ^                                         : w from:                            */
    /*   |                                         :  - 0 to P0.x    => linear          */
    /*   |                  Pn                     :  - P0.x to Pn.x => affine          */
    /*   |                  +------------->        :  - over Pn.x => constant to Pn.y   */
    /*   |                 .                       :                                    */
    /*   |        P0      .                        :                                    */
    /*   |      ___+-----+                         :                                    */
    /*   | __---         P1                        :                                    */
    /* 0 +----------------------------------> w    :                                    */
    /*   0                                         :                                    */
    /************************************************************************************/
    KyArray<Vec3f> m_distanceToInnerCornerFunctionPoints; // Vec3f::m_z represents the slope from previous point to current point x,y 
};


} // namespace Kaim

#endif // Navigation_SplineConfig_H