TrajectoryChecker2D.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 */
 
#pragma once
 
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/core/Trajectory.h>
 
namespace armarx::navigation::algorithms::spfa::smoothing
{
    class TrajectoryChecker2D
    {
    public:
        TrajectoryChecker2D(const algorithms::Costmap& costmap, double clearance);
 
        bool check(const core::GlobalTrajectory& trajectory, bool logDetails = false) const;
 
    private:
        bool isInCollision(float x, float y) const;
 
        const algorithms::Costmap& costmap_;
        double clearance_;
    };
} // namespace armarx::navigation::algorithms::spfa::smoothing