SafetyForceFieldActuation.h

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#ifndef DW_PLANNING_SAFETYFORCEFIELD_ACTUATION_SAFETYFORCEFIELDACTUATION_H_
#define DW_PLANNING_SAFETYFORCEFIELD_ACTUATION_SAFETYFORCEFIELDACTUATION_H_

#include <dw/core/Context.h>
#include <dw/planning/safetyforcefield/ControlConstraints.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwSafetyForceFieldActuationObject* dwSafetyForceFieldActuationHandle_t;

DW_API_PUBLIC
dwStatus dwSafetyForceFieldActuation_initialize(dwSafetyForceFieldActuationHandle_t* SafetyForceFieldActuation,
                                                dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwSafetyForceFieldActuation_reset(dwSafetyForceFieldActuationHandle_t SafetyForceFieldActuation);

DW_API_PUBLIC
dwStatus dwSafetyForceFieldActuation_release(dwSafetyForceFieldActuationHandle_t SafetyForceFieldActuation);

DW_API_PUBLIC
dwStatus dwSafetyForceFieldActuation_setSteeringWeight(float32_t steeringWeight,
                                                       dwSafetyForceFieldActuationHandle_t SafetyForceFieldActuation);

DW_API_PUBLIC
dwStatus dwSafetyForceFieldActuation_setControlConstraints(const dwSafetyForceFieldControlConstraints* constraints,
                                                           dwSafetyForceFieldActuationHandle_t SafetyForceFieldActuation);

DW_API_PUBLIC
dwStatus dwSafetyForceFieldActuation_setMultiControlConstraints(const dwSafetyForceFieldMultiControlConstraints* constraints,
                                                                dwSafetyForceFieldActuationHandle_t SafetyForceFieldActuation);

DW_API_PUBLIC
dwStatus dwSafetyForceFieldActuation_process(bool* isProposedControlSafe,
                                             dwSafetyForceFieldControl* newControl,
                                             const dwSafetyForceFieldControl* proposedControl,
                                             float32_t steeringLimit,
                                             float32_t minAccel,
                                             float32_t maxAccel,
                                             dwSafetyForceFieldActuationHandle_t SafetyForceFieldActuation);

#ifdef __cplusplus
}
#endif

#endif // DW_PLANNING_SAFETYFORCEFIELD_ACTUATION_SAFETYFORCEFIELDACTUATION_H_