obstacle.hpp

#pragma once
 
#include <memory>
#include <sstream>
#include <vector>
 
#include "proto/primitive.pb.h"
#include "proto/visualization.pb.h"
#include "software/ai/navigator/obstacle/obstacle_visitor.h"
#include "software/geom/algorithms/axis_aligned_bounding_box.h"
#include "software/geom/algorithms/signed_distance.h"
#include "software/geom/point.h"
#include "software/geom/segment.h"
 
class Obstacle
{
   public:
    Obstacle()          = default;
    virtual ~Obstacle() = default;
 
    virtual bool contains(const Point& p, const double t_sec = 0) const = 0;
 
    virtual double distance(const Point& p, const double t_sec = 0) const = 0;
 
    virtual double signedDistance(const Point& point, const double t_sec = 0) const = 0;
 
    virtual bool intersects(const Segment& segment, const double t_sec = 0) const = 0;
 
    virtual Point closestPoint(const Point& p) const = 0;
 
    virtual std::vector<Point> rasterize(const double resolution_size) const = 0;
 
    virtual TbotsProto::Obstacle createObstacleProto() const = 0;
 
    virtual Rectangle axisAlignedBoundingBox(const double inflation_radius) const = 0;
 
    virtual std::string toString(void) const = 0;
 
    virtual void accept(ObstacleVisitor& visitor) const = 0;
};
 
TbotsProto::Obstacle createObstacleProto(const Polygon& polygon);
TbotsProto::Obstacle createObstacleProto(const Rectangle& rectangle);
TbotsProto::Obstacle createObstacleProto(const Circle& circle);
TbotsProto::Obstacle createObstacleProto(const Stadium& stadium);
 
using ObstaclePtr = std::shared_ptr<Obstacle>;
 
inline std::ostream& operator<<(std::ostream& os, const ObstaclePtr& obstacle_ptr)
{
    os << obstacle_ptr->toString();
    return os;
}