CommandPathCutEntityDeplacements.h

Go to the documentation of this file.

#ifndef CommandPathCutEntityDeplacements_h
#define CommandPathCutEntityDeplacements_h
 
#include "CommandCommons.h"
 
namespace conscience_core::bridging::commands {
 
struct CSC_DLL_IMPORTEXPORT PathSegmentCommandDataType {
    PathSegmentCommandDataType();
 
    ~PathSegmentCommandDataType();
 
    PathSegmentCommandDataType(CscPoint3d *start, CscPoint3d *end);
 
    PathSegmentCommandDataType *clone();
 
    CscPoint3d *start;
    CscPoint3d *end;
};
 
struct CSC_DLL_IMPORTEXPORT SegmentMargins {
    SegmentMargins(
        PathSegmentCommandDataType *left,
        PathSegmentCommandDataType *right) : left(left), right(right) {};
 
    ~SegmentMargins();
 
    PathSegmentCommandDataType *left;
    PathSegmentCommandDataType *right;
};
 
class CSC_DLL_IMPORTEXPORT CommandPathCutEntityDeplacements : public CscCommand {
public:
    inline static const CommandTypeId COMMAND_ID = "PATH_CUT_ENTITY_DEPLACEMENTS";
 
    CommandPathCutEntityDeplacements(vector<PathSegmentCommandDataType *> *paths);
    ~CommandPathCutEntityDeplacements();
 
protected:
    const double WIDTH_OFFSET_IN_CENTIMETER = 25;
    const double LENGTH_END_OFFSET_FOR_PATH_IN_CENTIMETER = 40;
    const double LENGTH_START_OFFSET_FOR_IN_CENTIMETER = 10;
    const double LENGTH_OFFSET_FOR_TRANSITION_IN_CENTIMETER = 100;
    const double MIN_DISTANCE_FOR_SAME_POINT_IN_CM = 2;
    const double MAX_ANGLE_FOR_TRANSITION_IN_DEGREES = 20;
 
    CscCommandExecutionResultList<PathSegmentCommandDataType> *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
 
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
    vector<PathSegmentCommandDataType *> *paths;
    std::unique_ptr<CscLogger> logger = CscLogger::getForCategory("CommandPathCutEntityDeplacements");
 
    CscPoint3d *findIntersection(PathSegmentCommandDataType *pathA, PathSegmentCommandDataType *pathB);
    SegmentMargins getOffsetPath(PathSegmentCommandDataType &path, double width, double extensionStart = 0, double extensionEnd = 0);
 
    vector<PathSegmentCommandDataType *> cutPathsWithOffset(const vector<PathSegmentCommandDataType *> &pathsToCut, PathSegmentCommandDataType *offsetLeft, PathSegmentCommandDataType *offsetRight);
 
    bool isBetweenPath(PathSegmentCommandDataType *segment, PathSegmentCommandDataType *leftBound, PathSegmentCommandDataType *rightBound, double maxDistance);
    double signedAngleBetweenPaths(const PathSegmentCommandDataType *path1, const PathSegmentCommandDataType *path2);
    double calculateAngleBetweenTwoPosition(CscPoint3d *firstPosition, CscPoint3d *secondPosition);
};
 
COMMAND_TYPE_BUILDER(CommandPathCutEntityDeplacements, CscPoint3d, double, double, double)
COMMAND_TYPE_BUILDER(CommandPathCutEntityDeplacements, PathSegmentCommandDataType, CscPoint3d *, CscPoint3d *)
COMMAND_REGISTER(CommandPathCutEntityDeplacements, vector<PathSegmentCommandDataType *> *)
COMMAND_RESULT_JSON_SERIALIZER(PathSegmentCommandDataType, end, start)
 
}
 
#endif