ConstraintsZone.h

#pragma once
 
#include "pathplanner/lib/path/PathConstraints.h"
#include <wpi/json.h>
 
namespace pathplanner {
class ConstraintsZone {
public:
    constexpr ConstraintsZone(double minWaypointRelativePos,
            double maxWaypointRelativePos, PathConstraints constraints) : m_minPos(
            minWaypointRelativePos), m_maxPos(maxWaypointRelativePos), m_constraints(
            constraints) {
    }
 
    static ConstraintsZone fromJson(const wpi::json &json);
 
    constexpr double getMinWaypointRelativePos() const {
        return m_minPos;
    }
 
    constexpr double getMaxWaypointRelativePos() const {
        return m_maxPos;
    }
 
    constexpr const PathConstraints& getConstraints() const {
        return m_constraints;
    }
 
    inline bool operator==(const ConstraintsZone &other) const {
        return std::abs(m_minPos - other.m_minPos) < 1E-9
                && std::abs(m_maxPos - other.m_maxPos) < 1E-9
                && m_constraints == other.m_constraints;
    }
 
private:
    double m_minPos;
    double m_maxPos;
    PathConstraints m_constraints;
};
}