splinetrajectoryconfigblob.h

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/*
* Copyright 2016 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.
*/

#pragma once

#include "gwnavruntime/pathfollower/splinetrajectoryconfig.h"
#include "gwnavruntime/pathfollower/radiusprofileblob.h"
#include "gwnavruntime/pathfollower/splineconfigblob.h"


namespace Kaim
{

class SplineTrajectoryConfig;


class SplineTrajectoryConfigBlob
{
public:
    SplineTrajectoryConfigBlob() {}

public:
    SplineComputationConfigBlob m_splineConfig;

    KyUInt32 m_startConstraintDirectionMode;
    KyFloat32 m_startConstraintDirectionVelocityThreshold;
    KyFloat32 m_recomputationDistanceRatio;
    KyFloat32 m_stabilityDistance;
    KyFloat32 m_targetOnSplineDistance;
    KyFloat32 m_maxDistanceToSplinePosition;
    KyUInt32  m_velocityComputationMode;
};

inline void SwapEndianness(Endianness::Target e, SplineTrajectoryConfigBlob& self)
{
    SwapEndianness(e, self.m_splineConfig);
    SwapEndianness(e, self.m_startConstraintDirectionMode);
    SwapEndianness(e, self.m_startConstraintDirectionVelocityThreshold);
    SwapEndianness(e, self.m_recomputationDistanceRatio);
    SwapEndianness(e, self.m_stabilityDistance);
    SwapEndianness(e, self.m_targetOnSplineDistance);
    SwapEndianness(e, self.m_maxDistanceToSplinePosition);
    SwapEndianness(e, self.m_velocityComputationMode);
}

class SplineTrajectoryConfigBlobBuilder : public BaseBlobBuilder<SplineTrajectoryConfigBlob>
{
    KY_CLASS_WITHOUT_COPY(SplineTrajectoryConfigBlobBuilder)

public:
    SplineTrajectoryConfigBlobBuilder(const SplineTrajectoryConfig* splineTrajectoryConfig)
        : m_splineTrajectoryConfig(splineTrajectoryConfig)
    {}

    virtual void DoBuild();

private:
    const SplineTrajectoryConfig* m_splineTrajectoryConfig;
};

} // namespace Kaim