keep_out.h

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#pragma once
 
#include <units/length.h>
 
#include <optional>
#include <vector>
 
#include "types.h"
 
namespace path_planning {
 
  enum class Orientation { Colinear, Clockwise, Counterclockwise };
 
  Orientation GetOrientation(const ArmPathPoint& point1, const ArmPathPoint& point2, const ArmPathPoint& point3);
 
  bool OnSegment(const ArmPathPoint& p, const ArmPathPoint& q, const ArmPathPoint& r);
 
  bool SegmentsIntersect(const LineSegment& segment1, const LineSegment& segment2);
 
  std::optional<ArmPathPoint> Intersection(const LineSegment& segment1, const LineSegment& segment2);
 
  std::vector<LineSegment> PolygonSegments(const Polygon& polygon);
 
  units::inch_t SegmentLength(const LineSegment& segment);
 
  ArmPath KeepOut(const ArmPath& initialPath, const Polygon& avoidancePolygon);
}  // namespace path_planning