k1999.h

/************************************************************************/
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/* This file is part of VDrift.                                         */
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////////////////////////////////////////////////////////////////////////////
//
// Using Remi Coulom's K1999 Path-Optimisation Algorithm to calculate
// racing line.
//
// This is an adaption of Remi Coulom's K1999 driver for TORCS
//
////////////////////////////////////////////////////////////////////////////

#ifndef _K1999_H
#define _K1999_H

#include <vector>
#include <iosfwd>

class RoadStrip;

class K1999
{
private:
	std::vector <double> tx;
	std::vector <double> ty;
	std::vector <double> tRInverse;
	std::vector <double> txLeft;
	std::vector <double> tyLeft;
	std::vector <double> txRight;
	std::vector <double> tyRight;
	std::vector <double> tLane;
	int Divs;

	void UpdateTxTy(int i);
	double GetRInverse(int prev, double x, double y, int next);
	void AdjustRadius(int prev, int i, int next, double TargetRInverse, double Security = 0);
	void Smooth(int Step);
	void StepInterpolate(int iMin, int iMax, int Step);
	void Interpolate(int Step);

#ifdef DRAWPATH
	void DrawPath(std::ostream &out);
#endif

public:
	// the road is expected to be closed
	void LoadData(const RoadStrip & road);
	void CalcRaceLine();
	void UpdateRoadStrip(RoadStrip & road);
};

#endif //_K1999_H