waypoint.h

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#ifndef WAYPOINT_H
#define WAYPOINT_H
 
#include "bitrl/bitrl_consts.h"
#include "bitrl/bitrl_types.h"
#include "bitrl/utils/geometry/geom_point.h"
namespace bitrl
{
namespace utils
{
namespace trajectory
{
 
using bitrl::utils::geom::GeomPoint;
 
template <int dim, typename Data> class WayPoint : public GeomPoint<dim>
{
  public:
    typedef Data data_type;
 
    WayPoint();
 
    WayPoint(const GeomPoint<dim> &p, uint_t id, const data_type &data_ = data_type());
 
    uint_t get_id() const { return id_; }
 
    data_type &get_data() { return data_; }
 
    const data_type &get_data() const { return data_; }
 
    bool is_active() const { return is_active_point_; }
 
  private:
    uint_t id_;
    data_type data_;
    bool is_active_point_;
};
 
template <int dim, typename Data>
WayPoint<dim, Data>::WayPoint(const GeomPoint<dim> &p, uint_t id,
                              const typename WayPoint<dim, Data>::data_type &data)
    : GeomPoint<dim>(p), id_(id), data_(data), is_active_point_(true)
{
}
 
template <int dim, typename Data>
WayPoint<dim, Data>::WayPoint() : WayPoint(GeomPoint<dim>(), bitrl::consts::INVALID_ID)
{
}
} // namespace trajectory
} // namespace utils
} // namespace bitrl
 
#endif