lane_task_planner.H

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// Copyright (C) 2006 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Pablo Mejia
// lane_task_planner.H: Generates path to drive on the lane

#ifndef CAJUN_LANE_TASK_PLANNER_H
#define CAJUN_LANE_TASK_PLANNER_H


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

namespace cajun
{


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

        void set_plan (rndf_point_t *end_wp_id_, double x_, double y_);

        void set_plan (rndf_point_t *end_wp_id_, double dis_);

        void get_plan (rndf_point_t* &end_wp_id_, double &x_,
                       double &y_, double &dis_);

        void modify_plan (rndf_point_t *end_wp_id_, double x_, double y_);

        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 ();

protected:
        const uc_planner_param_t *m_uc_param;

        //fixme: change it to const
        rndf_point_t *m_end_wp_id;
        double m_end_x;
        double m_end_y;
        double m_drive_dis; // distance for which TP should drive the bot
        bool m_drive_by_distance; // true if TP should drive for x distance

        bool m_recorded_start; // used to record point where TP started driving
                               // so as to keep track of distance TP drove
        double m_start_x; //used to measure distance TP drove the bot
        double m_start_y;

        double m_lane_width; //width of the lane

        void compute_end_xy (rndf_lane_data_t const &lb_,
                             path_t const &path);

};


};


#endif

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