ProlateHyperspheroid.h

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/* Author: Jonathan Gammell */

#ifndef OMPL_UTIL_PROLATE_HYPERSPHEROID_
#define OMPL_UTIL_PROLATE_HYPERSPHEROID_

#include <ompl/config.h>
#if !OMPL_HAVE_EIGEN3
#error The ProlateHyperspheroid class uses Eigen3, which was not detected at build time.
#endif

#include <memory>

//For ease-of-use shared_ptr definition
#include <ompl/util/ClassForward.h>

namespace ompl
{
    // A forward declaration of the prolate hyperspheroid class
    OMPL_CLASS_FORWARD(ProlateHyperspheroid);

    class ProlateHyperspheroid
    {
    public:
        ProlateHyperspheroid(unsigned int n, const double focus1[], const double focus2[]);

        void setTransverseDiameter(double transverseDiameter);

        void transform(const double sphere[], double phs[]) const;

        bool isInPhs(const double point[]) const;

        bool isOnPhs(const double point[]) const;

        unsigned int getPhsDimension(void) const;

        double getPhsMeasure(void) const;

        double getPhsMeasure(double tranDiam) const;

        double getMinTransverseDiameter(void) const;

        double getPathLength(const double point[]) const;

        unsigned int getDimension() const;

    protected:

    private:
        struct PhsData;

        std::shared_ptr<PhsData> dataPtr_;

        // Functions
        void updateRotation(void);

        void updateTransformation(void);
    };
}

#endif