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+#ifndef goto_hermite_h
+#define goto_hermite_h
+// goto_hermite.h
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program 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, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "goto.h"
+#include "utils/point.h"
+
+#include <vector>
+
+namespace std { class ostream; }
+
+/// Goto suivant une courbe d'hermite.
+class GotoHermite : public Goto
+{
+ typedef std::vector<Point> Points;
+ Points points_;
+ double step_;
+ static const double stepSize_ = 0.01;
+ static const double tightness_ = 0.5;
+ double ia_, fa_;
+ public:
+ /// Constructeur.
+ /// fa : angle final.
+ GotoHermite (double fa);
+ /// Ajoute un point au chemin.
+ void add (double x, double y);
+ /// Initialise le Goto, appelé au début de la trajectoire.
+ void init (const Tracker &t);
+ /// Fournit la distance au point final (mm), le point le plus loin à moins
+ /// de distmax (mm) et renvois false si le Goto est fini.
+ /// eps : distance (mm) en dessous de laquelle on considère que la
+ /// destination est atteinte.
+ /// distmax : distance (mm) maximale du point.
+ /// dist : distance (mm) au point final.
+ /// (x, y) : point intermédiaire (mm).
+ bool get (const Tracker &t, double distmax, double eps,
+ double &dist, double &x, double &y);
+ /// Test le GotoHermite en affichant la liste des points générés.
+ void test (std::ostream &os) const;
+ protected:
+ /// Calcule le point au pas step, renvois faux si fini.
+ bool computePoint (double step, Point &p) const;
+};
+
+#endif // goto_hermite_h