PlannerDump.hpp

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#pragma once
 
#include <sbpl_spline_primitives/SplinePrimitivesConfig.hpp>
#include <traversability_generator3d/TraversabilityConfig.hpp>
#include <traversability_generator3d/TraversabilityGenerator3d.hpp>
#include "Mobility.hpp"
#include <base/samples/RigidBodyState.hpp>
#include "Planner.hpp"
 
#include <memory>
 
namespace ugv_nav4d {
 
class Planner;
    
class PlannerDump
{
    sbpl_spline_primitives::SplinePrimitivesConfig splinePrimitiveConfig; 
    Mobility mobility;
    traversability_generator3d::TraversabilityConfig traversabilityConfig;
    PlannerConfig plannerConfig;
    
    base::samples::RigidBodyState start;
    base::samples::RigidBodyState goal;
    base::Time maxTime;
    
    std::string getUnusedFilename(const std::string& filePostfix) const;
 
    traversability_generator3d::TravMap3d travMap;
 
public:
    
    PlannerDump(const std::string &dumpName);
 
    PlannerDump(const ugv_nav4d::Planner& planner, const std::string& filePostfix, const base::Time& maxTime, const base::samples::RigidBodyState& startbody2Mls, const base::samples::RigidBodyState& endbody2Mls);
    
    const sbpl_spline_primitives::SplinePrimitivesConfig &getSplineConfig() const
    {
        return splinePrimitiveConfig;
    }
 
    const Mobility &getMobilityConf() const
    {
        return mobility;
    }
    
    const traversability_generator3d::TraversabilityConfig &getTravConfig() const
    {
        return traversabilityConfig;
    }
    
    const PlannerConfig &getPlannerConfig() const
    {
        return plannerConfig;
    }
    
    const base::samples::RigidBodyState &getStart() const
    {
        return start;
    }
    const base::samples::RigidBodyState &getGoal() const
    {
        return goal;
    }
    const base::Time &getMaxTime() const
    {
        return maxTime;
    }
    const traversability_generator3d::TravMap3d& getTravMap() const
    {
        return travMap;
    }
 
};
 
}