splinetrajectoryconfig.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_SplineTrajectoryConfig_H
#define Navigation_SplineTrajectoryConfig_H

#include "gwnavruntime/pathfollower/radiusprofile.h"
#include "gwnavruntime/pathfollower/splinecomputationconfig.h"


namespace Kaim
{

class SplineTrajectoryConfigBlob;


enum StartConstraintDirectionMode
{
    StartConstraintDirectionMode_Velocity = 0,               
    StartConstraintDirectionMode_FrontDirection,             
    StartConstraintDirectionMode_Velocity_Or_FrontDirection, 
    StartConstraintDirectionMode_None                        
};

class SplineTrajectoryConfig
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Bot)

public:

    enum VelocityComputationMode
    {
        VelocityComputationMode_MatchSpline = 0,

        VelocityComputationMode_AnimationDrivenLocomotion
    };

    SplineTrajectoryConfig() { SetDefaults(); }

    void SetDefaults();
    void UpdateFromBlob(const SplineTrajectoryConfigBlob& blob);
    bool operator==(const SplineTrajectoryConfig& other) const;
    bool operator!=(const SplineTrajectoryConfig& other) const { return !operator==(other); }

public:

    //-------------------- Spline computation parameters --------------------

    SplineComputationConfig m_splineComputationConfig;

    StartConstraintDirectionMode m_startConstraintDirectionMode;

    KyFloat32 m_startConstraintDirectionVelocityThreshold;

    KyFloat32 m_recomputationDistanceRatio;

    KyFloat32 m_stabilityDistance;


    //-------------------- Spline follow parameters --------------------

    KyFloat32 m_maxDistanceToSplinePosition;

    VelocityComputationMode m_velocityComputationMode;

    KyFloat32 m_targetOnSplineDistance;

};

} // namespace Kaim

#endif // Navigation_SplineTrajectoryConfig_H