base_path_provider.H

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#ifndef CAJUN_BASE_PATH_PROVIDER_H
#define CAJUN_BASE_PATH_PROVIDER_H

#include "planner_defs.H"
#include "world_state.H"

#include "mdf.H"


namespace cajun
{
class base_path_provider_t
{
public:
        base_path_provider_t (world_state_t *ws_, rndf_t const *rndf_,
                              mdf_t const * mdf);
        void update_prev_path (path_t const &path_,
                               path_direction_t p_dir_);
        void get_base_path (path_t &path_, path_direction_t p_dir_);
private:
        path_t m_prev_path;
        path_direction_t m_prev_path_dir;

        world_state_t *m_ws;
        rndf_t const *m_rndf;
        mdf_t const *m_mdf;
        bool m_first_iteration;

        void add_new_base_path (path_t &path_, double x_, double y_);
};

};


#endif

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