trajectory_generator.h

#pragma once
 
#include <vector>
 
#include "core/math/spline/hermite_point.h"
#include "core/math/trajectory/trajectory.h"
#include "core/math/trajectory/trajectory_config.h"
#include "core/math/units.h"
 
using namespace units::literals;

class TrajectoryGenerator {
 public:
  static Trajectory generate_trajectory(const std::vector<HermitePoint>& waypoints,
                                        const TrajectoryConfig& config);

  static Trajectory generate_trajectory(const std::vector<Pose2d>& waypoints,
                                        const TrajectoryConfig& config, double tangent_scale = 1.2);

  static Trajectory generate_trajectory(const Pose2d& current_pose,
                                        units::Velocity current_velocity,
                                        const std::vector<Pose2d>& target_waypoints,
                                        TrajectoryConfig config, double tangent_scale = 1.2);
 
  static const Trajectory kDoNothingTrajectory;
};