Pathfinding.h

#pragma once
 
#include "pathplanner/lib/pathfinding/Pathfinder.h"
#include <memory>
 
namespace pathplanner {
class Pathfinding {
public:
    static inline void setPathfinder(std::unique_ptr<Pathfinder> pathfinder) {
        Pathfinding::pathfinder = std::move(pathfinder);
    }
 
    static void ensureInitialized();
 
    static inline bool isNewPathAvailable() {
        return pathfinder->isNewPathAvailable();
    }
 
    static inline std::shared_ptr<PathPlannerPath> getCurrentPath(
            PathConstraints constraints, GoalEndState goalEndState) {
        return pathfinder->getCurrentPath(constraints, goalEndState);
    }
 
    static inline void setStartPosition(
            const frc::Translation2d &startPosition) {
        pathfinder->setStartPosition(startPosition);
    }
 
    static inline void setGoalPosition(const frc::Translation2d &goalPosition) {
        pathfinder->setGoalPosition(goalPosition);
    }
 
    static inline void setDynamicObstacles(
            const std::vector<std::pair<frc::Translation2d, frc::Translation2d>> &obs,
            const frc::Translation2d &currentRobotPos) {
        pathfinder->setDynamicObstacles(obs, currentRobotPos);
    }
 
private:
    static std::unique_ptr<Pathfinder> pathfinder;
};
}