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 *  Copyright (c) 2015, David V. Lu!!
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#ifndef GLOBAL_PLANNER_ORIENTATION_FILTER_H
#define GLOBAL_PLANNER_ORIENTATION_FILTER_H
#include <nav_msgs/Path.h>

namespace global_planner {

enum OrientationMode { NONE, FORWARD, INTERPOLATE, FORWARDTHENINTERPOLATE, BACKWARD, LEFTWARD, RIGHTWARD };

class OrientationFilter {
    public:
        OrientationFilter() : omode_(NONE) {}
    
    
        virtual void processPath(const geometry_msgs::PoseStamped& start,
                                 std::vector<geometry_msgs::PoseStamped>& path);
                                 
        void setAngleBasedOnPositionDerivative(std::vector<geometry_msgs::PoseStamped>& path, int index);
        void interpolate(std::vector<geometry_msgs::PoseStamped>& path, 
                         int start_index, int end_index);
                         
        void setMode(OrientationMode new_mode){ omode_ = new_mode; }
        void setMode(int new_mode){ setMode((OrientationMode) new_mode); }

        void setWindowSize(size_t window_size){ window_size_ = window_size; }
    protected:
        OrientationMode omode_;
        int window_size_;
};

} //end namespace global_planner
#endif
