trajectory_constraint.h

#pragma once
 
#include <limits>
#include <memory>
 
#include "core/math/geometry/pose2d.h"
#include "core/math/units.h"
 
using namespace units::literals;

class TrajectoryConstraint {
 public:
  TrajectoryConstraint() = default;
 
  TrajectoryConstraint(const TrajectoryConstraint&) = default;
  TrajectoryConstraint& operator=(const TrajectoryConstraint&) = default;
 
  TrajectoryConstraint(TrajectoryConstraint&&) = default;
  TrajectoryConstraint& operator=(TrajectoryConstraint&&) = default;
 
  virtual ~TrajectoryConstraint() = default;

  struct MinMax {
    MinMax(units::Acceleration min_acceleration, units::Acceleration max_acceleration)
        : min_acceleration(min_acceleration), max_acceleration(max_acceleration) {}

    MinMax()
        : min_acceleration(-std::numeric_limits<double>::max()),
          max_acceleration(std::numeric_limits<double>::max()) {}
 
    units::Acceleration min_acceleration{
        -std::numeric_limits<double>::max()};  
    units::Acceleration max_acceleration{
        std::numeric_limits<double>::max()};  
  };

  virtual units::Velocity max_velocity(const Pose2d& pose, units::Curvature curvature,
                                       units::Velocity velocity) const = 0;

  virtual MinMax min_max_acceleration(const Pose2d& pose, units::Curvature curvature,
                                      units::Velocity speed) const = 0;

  virtual std::unique_ptr<TrajectoryConstraint> clone() const = 0;
};