trajectory.hpp

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#pragma once
 
#include <vector>
 
#include "LightLib/path/spline.hpp"
 
namespace light {
 
struct TrajConstraints {
  float vMax = 48.0f;     
  float aMax = 60.0f;     
  float aDecMax = 60.0f;  
  float aLatMax = 60.0f;  
};
 
struct TrajState {
  float t = 0.0f;     
  float x = 0.0f;     
  float y = 0.0f;     
  float theta = 0.0f; 
  float v = 0.0f;     
  float omega = 0.0f; 
  float a = 0.0f;     
  float kappa = 0.0f; 
};
 
class Trajectory {
 public:
  std::vector<TrajState> pts; 
  float duration = 0.0f;      
 
  bool empty() const { return pts.empty(); }
 
  TrajState sample(float t) const;
};
 
Trajectory generateTrajectory(const std::vector<Waypoint>& wps,
                              const TrajConstraints& cons,
                              bool reversed = false);
 
}  // namespace light