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motion_chain.h

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/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library is  distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY;  without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA


 * $Id: motion_chain.h,v 1.2 2007/01/20 17:40:19 derek Exp $

  Modifications:
  1. removed const from operater [] and added reference to return type "motion& ..."
     previously, it was read only, and this prevented one from doing _mc[i]._x = 3; as
     the [] operator returned a read only copy.
     This opens up possible side-effects, but the efficiency benefits outweight the risks.
     (2006.01.12)
*/

#ifndef __MOTION_CHAIN
#define __MOTION_CHAIN
const int MOTION_CHAIN_MAX = 199;       // maximum path for 4x4 grid_map.
#include "motion.h"
#include "chain.h"
using namespace std;
class motion_chain : public chain
{
public:
  motion_chain(void); 
  bool append(const motion&); 
  bool append(int x, int y, atomic_rotation face,  MOTION imotion); 
  const motion serve(void);     
//  void compress(void);          // Takes 45/90 degree turns and replaces with CIRCULAR path based turns.
  void transform_real(void);
  motion& operator[](int);      
  #ifdef DOS
  void print(void); 
  #endif
private:
  motion _motion_chain[MOTION_CHAIN_MAX];
};

#endif

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