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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, appel� au d�but de la trajectoire.
    void init (const Tracker &t);
    /// Fournit la distance au point final (mm), le point le plus loin � moins
    /// de distmax (mm) et renvois false si le Goto est fini.
    /// eps : distance (mm) en dessous de laquelle on consid�re que la
    /// destination est atteinte.
    /// distmax : distance (mm) maximale du point.
    /// dist : distance (mm) au point final.
    /// (x, y) : point interm�diaire (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 g�n�r�s.
    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