line_segment_link.h

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#include "bitrl/bitrl_consts.h"
#include "bitrl/utils/geometry/generic_line.h"
#include "bitrl/utils/trajectory/waypoint.h"
 
namespace bitrl
{
namespace utils
{
namespace trajectory
{
 
template <int dim, typename NodeData, typename SegmentData>
class LineSegmentLink : private bitrl::utils::geom::GenericLine<dim>
{
  public:
    static const int dimension = dim;
    typedef NodeData node_data_type;
    typedef SegmentData segment_data_type;
    typedef WayPoint<dim, NodeData> w_point_type;
 
    using bitrl::utils::geom::GenericLine<dim>::get_vertex;
    using bitrl::utils::geom::GenericLine<dim>::get_id;
    using bitrl::utils::geom::GenericLine<dim>::set_id;
    using bitrl::utils::geom::GenericLine<dim>::has_valid_id;
    using bitrl::utils::geom::GenericLine<dim>::length;
 
    LineSegmentLink();
 
    LineSegmentLink(const w_point_type &v1, const w_point_type &v2, uint_t id,
                    const segment_data_type &data);
 
    LineSegmentLink(const w_point_type &v1, const w_point_type &v2, uint_t id);
 
    bool is_active() const { return is_active_; }
 
    void deactivate() { is_active_ = false; }
 
    void make_active() { is_active_ = true; }
 
  private:
    std::vector<w_point_type> internal_points_;
 
    segment_data_type data_;
 
    bool is_active_;
};
 
template <int dim, typename NodeData, typename SegmentData>
LineSegmentLink<dim, NodeData, SegmentData>::LineSegmentLink()
    : bitrl::utils::geom::GenericLine<dim>(w_point_type(), w_point_type(),
                                           bitrl::consts::INVALID_ID),
      internal_points_(), data_(), is_active_(false)
{
}
 
template <int dim, typename NodeData, typename SegmentData>
LineSegmentLink<dim, NodeData, SegmentData>::LineSegmentLink(
    const typename LineSegmentLink<dim, NodeData, SegmentData>::w_point_type &v1,
    const typename LineSegmentLink<dim, NodeData, SegmentData>::w_point_type &v2, uint_t id,
    const typename LineSegmentLink<dim, NodeData, SegmentData>::segment_data_type &data)
    : bitrl::utils::geom::GenericLine<dim>(v1, v2, id), internal_points_(), data_(data),
      is_active_(true)
{
}
 
template <int dim, typename NodeData, typename SegmentData>
LineSegmentLink<dim, NodeData, SegmentData>::LineSegmentLink(
    const typename LineSegmentLink<dim, NodeData, SegmentData>::w_point_type &v1,
    const typename LineSegmentLink<dim, NodeData, SegmentData>::w_point_type &v2, uint_t id)
    : LineSegmentLink<dim, NodeData, SegmentData>(
          v1, v2, id, typename LineSegmentLink<dim, NodeData, SegmentData>::segment_data_type())
{
}
 
} // namespace trajectory
} // namespace utils
} // namespace bitrl