Pathfinder.h

#pragma once
 
#include "pathplanner/lib/path/GoalEndState.h"
#include "pathplanner/lib/path/PathConstraints.h"
#include "pathplanner/lib/path/PathPlannerPath.h"
#include <vector>
#include <utility>
#include <frc/geometry/Translation2d.h>
#include <memory>
 
namespace pathplanner {
class Pathfinder {
public:
    virtual ~Pathfinder() {
    }
 
    virtual bool isNewPathAvailable() = 0;
 
    virtual std::shared_ptr<PathPlannerPath> getCurrentPath(
            PathConstraints constraints, GoalEndState goalEndState) = 0;
 
    virtual void setStartPosition(const frc::Translation2d &startPosition) = 0;
 
    virtual void setGoalPosition(const frc::Translation2d &goalPosition) = 0;
 
    virtual void setDynamicObstacles(
            const std::vector<std::pair<frc::Translation2d, frc::Translation2d>> &obs,
            const frc::Translation2d &currentRobotPos) = 0;
};
}