/*
 * Copyright (c) 2011-2019, The DART development contributors
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 *   without modification, are permitted provided that the following
 *   conditions are met:
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 *     notice, this list of conditions and the following disclaimer.
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// Algorithm details and publications: http://www.golems.org/node/1570

#ifndef DART_PLANNING_PATH_HPP_
#define DART_PLANNING_PATH_HPP_

#include <list>
#include <Eigen/Core>

namespace dart {
namespace planning {

class PathSegment
{
public:
  PathSegment(double length = 0.0) : position(0.0), length(length)
  {
  }

  virtual ~PathSegment()
  {
  }

  double getLength() const
  {
    return length;
  }
  virtual Eigen::VectorXd getConfig(double s) const = 0;
  virtual Eigen::VectorXd getTangent(double s) const = 0;
  virtual Eigen::VectorXd getCurvature(double s) const = 0;
  virtual std::list<double> getSwitchingPoints() const = 0;
  virtual PathSegment* clone() const = 0;

  double position;

protected:
  double length;
};

class Path
{
public:
  Path(const std::list<Eigen::VectorXd>& path, double maxDeviation = 0.0);
  Path(const Path& path);
  ~Path();
  double getLength() const;
  Eigen::VectorXd getConfig(double s) const;
  Eigen::VectorXd getTangent(double s) const;
  Eigen::VectorXd getCurvature(double s) const;
  double getNextSwitchingPoint(double s, bool& discontinuity) const;
  std::list<std::pair<double, bool> > getSwitchingPoints() const;

private:
  PathSegment* getPathSegment(double& s) const;
  double length;
  std::list<std::pair<double, bool> > switchingPoints;
  std::list<PathSegment*> pathSegments;
};

} // namespace planning
} // namespace dart

#endif // DART_PLANNING_PATH_HPP_
