route_discontinuity.H

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#ifndef CAJUN_ROUTE_DISCONTINUITY_H
#define CAJUN_ROUTE_DISCONTINUITY_H

#include "data_type.H"
#include "data_queue.H"
#include "data_logger.H"
#include "route.H"
#include <cstdio>

namespace cajun
{

# define assign_slope(curr_beam) assign_slope.end_beam[(curr_beam)]
# define VEHICLE_WIDTH 0.81//0.36 // square of the half of vehicle width
    class route_discontinuity_t
    {
        data_queue_writer_t<scan_analysis_data_t> *m_dq_writer;
        data_queue_writer_t<scan_analysis_data_t> *m_dq_b_writer;
    public:
        route_discontinuity_t (data_queue_writer_t<scan_analysis_data_t> *scan_analysis_dq_writer,data_queue_writer_t<scan_analysis_data_t> *scan_analysis_dq_b_writer)
            {
                    m_dq_writer = scan_analysis_dq_writer;
                    m_dq_b_writer = scan_analysis_dq_b_writer;

            };

            void add_scan (scan_gp_data_t const &points_b, scan_gp_data_t const &points, waypt_data_t waypt_info, nav_data_t bot_posi)
                    {
                            // scan_gp_data_t path_points;
                            //route_t::waypoint_t w = m_route->waypoint (m_waypt.next);
                            // TO DO :: filter out beams that are not on path
                            find_route_discontinuity(points_b,0);
                            find_route_discontinuity(points,1);
                    }
            void find_route_discontinuity(scan_gp_data_t points, unsigned sick_id);
    };
};
#endif

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