Path.cpp

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#include "Path.h"
 
#include <vector>
 
namespace armarx::navigation::components::laser_scanner_feature_extraction
{
 
    std::vector<Path::Segment>
    Path::segments() const noexcept
    {
        if (points.size() <= 1)
        {
            return {};
        }
 
        std::vector<Segment> segments;
        segments.reserve(static_cast<int>(points.size()) - 1);
 
        for (int i = 0; i < static_cast<int>(points.size()) - 1; i++)
        {
            segments.emplace_back(points.at(i), points.at(i + 1));
        }
 
        return segments;
    }
} // namespace armarx::navigation::components::laser_scanner_feature_extraction