QuadPath.h

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#ifndef GCP_UTIL_QUADPATH_H
#define GCP_UTIL_QUADPATH_H

// Include the C-style struct and method definitions this class is
// based on.

#include "gcp/control/code/unix/libunix_src/common/quad.h"
#include "gcp/control/code/unix/libunix_src/common/const.h" // pi and twopi

namespace gcp {
  namespace util {
    
    class QuadPath {
      
    public:
      
      enum QuadType {
    QP_NORMAL,
    
    QP_SIGNED_ANGLE,
    
    QP_POSITIVE_ANGLE
      };
      
      struct QuadData {
    
    gcp::control::QuadData quaddata_;
    
    void init();
      };
      
      QuadPath(double empty_value, QuadType type);
      
      ~QuadPath();
      
      void get(QuadData* data);
      
      void set(QuadData* data);
      
      void empty();
      
      void extend(double x, double y);
      
      double eval(double x);
      
      double grad(double x);
      
    private:
      
      gcp::control::QuadPath* quadpath_;
      
      // Private methods
      
      double extendAngle(double a, double b);
      
      QP_ANGLE_FN(angle_around_zero);
      
      QP_ANGLE_FN(angle_around_pi);
      
    }; // End class QuadPath
    
  }; // End namespace util
}; // End namespace gcp

#endif