change_lane_task_planner.H

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// Copyright (C) 2006 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Pablo Mejia

#ifndef CAJUN_CHANGE_LANE_TASK_PLANNER_H
#define CAJUN_CHANGE_LANE_TASK_PLANNER_H

#include "task_planner.H"
#include "uc_planner_param.H"

namespace cajun
{


class change_lane_task_planner_t : public task_planner_t
{
public:
        change_lane_task_planner_t ();

        void set_plan (unsigned seg_id_, unsigned start_lane_id_,
                       unsigned end_lane_id_);

        void get_plan (unsigned &seg_id_, unsigned &start_lane_id_,
                       unsigned &end_lane_id_);

        void set_active ();

        path_status_t generate_path (world_state_t *ws_, path_t &path_,
                                     double &p_len_left_,
                                     const path_t &base_path_);

        bool get_path_lane_lids (unsigned &sid_,
                                 std::vector<unsigned> &lids_);

        bool get_start_lid (unsigned &sid_, unsigned &lid_);

        bool is_task_complete (world_state_t *ws_, double x_, double y_,
                               double heading_);

        void print_plan ();
private:
        const uc_planner_param_t *m_uc_param;

        unsigned m_seg_id;
        unsigned m_start_lane_id;
        unsigned m_end_lane_id;
        bool m_left_turn;
};

};


#endif

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