path.hpp

// Copyright (c) TrajoptLib contributors
 
#pragma once
 
#include <stdint.h>
 
#include <functional>
#include <vector>
 
#include "trajopt/constraint/constraint.hpp"
#include "trajopt/util/symbol_exports.hpp"
 
namespace trajopt {

struct TRAJOPT_DLLEXPORT Waypoint {
  std::vector<Constraint> waypoint_constraints;

  std::vector<Constraint> segment_constraints;
};

template <typename Drivetrain, typename Solution>
struct TRAJOPT_DLLEXPORT Path {
  std::vector<Waypoint> waypoints;

  Drivetrain drivetrain;

  std::vector<std::function<void(const Solution& solution, int64_t handle)>>
      callbacks;
};
 
}  // namespace trajopt