Curve_table.h

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#ifndef HRK_CURVE_TABLE_H
#define HRK_CURVE_TABLE_H

#include <memory>


namespace hrk
{
    class Angle;

    class Curve_table
    {
    public:
        typedef struct
        {
            double direction;   // [rad]
            double velocity;    // [rad/sec^2]
        } curve_t;

        Curve_table();
        ~Curve_table();

        void set_straight_velocity(double m_per_sec);
        void set_rotate_velocity(const Angle& angle_per_sec);
        void set_rotate_acceleration(const Angle& angle_per_sec2);

        curve_t target_direction_and_velocity(double h);
        double path_change_distance() const;

    private:
        Curve_table(const Curve_table& rhs);
        Curve_table& operator = (const Curve_table& rhs);

        struct pImpl;
        std::auto_ptr<pImpl> pimpl;
    };
}

#endif