path_nudger.H

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#ifndef CAJUN_PATH_NUDGER_H
#define CAJUN_PATH_NUDGER_H


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

#include "base_interpolator.H"


#include <deque>


namespace cajun
{


class path_nudger_t
{
public:
                path_nudger_t (world_state_t *world_state_);

                void nudge_path (path_t &path_);

protected:
                struct bump_t
                {
                                double tstamp;
                                double x;
                                double y;
                };
                std::deque<bump_t> m_bump;

                world_state_t *m_ws;
                unsigned m_scangp_qid;

                base_interpolator_t *m_interp;


                void attract (path_wp_t &pt_, double x_, double y_);
                void repel (path_wp_t &pt_, double x_, double y_);
        void interp_pres_path (path_t &path_);


};


};


#endif

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