Planner.hpp

#ifndef KINEMATICS_PLANNER_HPP
#define KINEMATICS_PLANNER_HPP

#include <optional>
#include <vector>
#include <Kinematics/Matrix.hpp>

namespace HLR
{
namespace Kinematics
{
namespace Planners
{
class Planner
{
public:
    Planner() = default;

    virtual ~Planner() = default;

    Planner(const Planner& p) = delete;

    Planner(Planner&& p) = delete;

    Planner& operator=(const Planner& p) = delete;

    Planner& operator=(Planner&& p) = delete;

    virtual const std::optional<std::vector<Matrix<double, 5, 1>>> get_path(
        const Matrix<double, 5, 1>& current_state,
        const Matrix<double, 3, 1>& target_pos) const = 0;
};
}
}
}

#endif