parking_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_PARKING_TASK_PLANNER_H
#define CAJUN_PARKING_TASK_PLANNER_H


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

namespace cajun
{


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

        void set_plan (rndf_point_t *end_wp_id_);
        void get_plan (rndf_point_t* &end_wp_id_);
        void modify_plan (rndf_point_t *end_wp_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 is_task_complete (world_state_t *ws_, double x_, double y_,
                               double heading_);
        bool is_path_tight () { return true; }
        void print_plan ();

protected:
        const uc_planner_param_t *m_uc_param;

        //fixme: change it to const
        rndf_point_t *m_end_rp;

        // length of parking spot
        double m_parking_spot_length;

        double m_park_x;
        double m_park_y;

        double m_pre_path_orient;

        double m_start_x;
        double m_start_y;
        double m_start_orient;

        double m_park_orient;
        path_t m_pk_path;

        bool m_first_iteration;

        void compute_parking_path (path_t &path_, double start_orient_,
                                   double start_x_, double start_y_,
                                   double end_orient_, double end_x_,
                                   double end_y_);
        void note_pk_start (path_t &path_);
};


};


#endif

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