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43 lines
820 B
43 lines
820 B
/**
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* path.h
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* Path represents a route from somewhere to somewhere
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*
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* Created By Tony Huang @ 2014-5-22
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* Copyright (c) 2014 Shanghai SlamTec Co., Ltd.
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*/
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#pragma once
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#include <rpos/rpos_config.h>
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#include <rpos/system/object_handle.h>
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#include <rpos/core/pose.h>
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#include <vector>
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namespace rpos {
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namespace features {
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namespace motion_planner {
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namespace detail {
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class PathImpl;
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}
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class RPOS_CORE_API Path : public rpos::system::ObjectHandle<Path, detail::PathImpl>{
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public:
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RPOS_OBJECT_CTORS(Path);
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Path(const std::vector<core::Location>& points);
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#ifdef RPOS_HAS_RVALUE_REFS
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Path(std::vector<core::Location>&& points);
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#endif
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~Path();
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public:
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const std::vector<core::Location>& getPoints() const;
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Path truncate(unsigned int size);
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};
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}
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}
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}
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