codac_DataLoaderLissajous.h

 
#ifndef __CODAC_DATALOADERLISSAJOUS_H__
#define __CODAC_DATALOADERLISSAJOUS_H__
 
#include "codac_Interval.h"
#include "codac_DataLoader.h"
#include "codac_Beacon.h"
 
namespace codac
{
  class DataLoaderLissajous : DataLoader
  {
    public:
 
      DataLoaderLissajous();
      void load_data(TubeVector *&x, TubeVector *&xdot,
                     TrajectoryVector *&truth,
                     float timestep = 0.01,
                     const Interval& tdomain = Interval(0.,6.));
      std::vector<Beacon> get_beacons(const IntervalVector& map_box, int nb_beacons = 100) const;
      std::vector<IntervalVector> get_observations(
                     const TrajectoryVector& x,
                     const std::vector<Beacon>& map,
                     int nb_obs = 50,
                     const Interval& visi_range = Interval(0.,50.),
                     const Interval& visi_angle = Interval(-M_PI/4.,M_PI/4.),
                     const Interval& tdomain = Interval::ALL_REALS) const;
 
    protected:
 
  };
}
 
#endif