angle_map.h

#include <vector>
 
#include "software/geom/angle_segment.h"
 
class AngleMap
{
   public:
    AngleMap(Angle top_angle, Angle bottom_angle, size_t reserved_num_obstacles = 1);
 
    AngleMap(AngleSegment angle_seg, size_t max_num_obstacles);
 
    const AngleSegment &getAngleSegment() const;
 
    void addNonViableAngleSegment(AngleSegment &obstacle_angle_seg);
 
    AngleSegment getBiggestViableAngleSegment();
 
   private:
    AngleSegment angle_seg;
    std::vector<AngleSegment> taken_angle_segments;
};