PathPlanner.h

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#include <list>

#include "EnvironmentOptions.h"
#include "Map.h"


#ifndef ORCA_PATHPLANNER_H
#define ORCA_PATHPLANNER_H



class PathPlanner
{
    public:
        PathPlanner(const PathPlanner &obj) : map(obj.map), options(obj.options), glStart(obj.glStart), glGoal(obj.glGoal), radius(obj.radius) {}

        PathPlanner(const Map &map, const EnvironmentOptions &options, const Point &start, const Point &goal, const float &radius)
            : map(&map), options(&options), glStart(start), glGoal(goal), radius(radius) {};

        virtual ~PathPlanner() {map = nullptr; options = nullptr;}

        virtual PathPlanner* Clone() const = 0;

        virtual bool CreateGlobalPath() = 0;

        virtual bool GetNext(const Point &curr, Point &next) = 0;


        PathPlanner & operator = (const PathPlanner &obj)
        {map = obj.map; options = obj.options; glStart = obj.glStart; glGoal = obj.glGoal; radius = obj.radius; return *this;}

    protected:
        const Map *map;
        const EnvironmentOptions *options;
        Point glStart;
        Point glGoal;
        float radius;

};

#endif //ORCA_PATHPLANNER_H