text: /*
   * Copyright (c) 2018-2019, the neonavigation authors
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   *     * Redistributions of source code must retain the above copyright
   *       notice, this list of conditions and the following disclaimer.
   *     * Redistributions in binary form must reproduce the above copyright
   *       notice, this list of conditions and the following disclaimer in the
   *       documentation and/or other materials provided with the distribution.
   *     * Neither the name of the copyright holder nor the names of its
   *       contributors may be used to endorse or promote products derived from
   *       this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef PLANNER_CSPACE_PLANNER_3D_ROTATION_CACHE_H
  #define PLANNER_CSPACE_PLANNER_3D_ROTATION_CACHE_H
  
  #include <cmath>
  #include <list>
  #include <memory>
  #include <utility>
  #include <vector>
  
  #include <planner_cspace/cyclic_vec.h>
  
  namespace planner_cspace
  {
  namespace planner_3d
  {
  class RotationCache
  {
  private:
    class Page
    {
    private:
      std::unique_ptr<CyclicVecFloat<3, 2>[]> c_;
      std::unique_ptr<std::pair<float, float>[]> r_;
      CyclicVecInt<3, 2> size_;
      int ser_size_;
  
      inline size_t addr(const CyclicVecInt<3, 2>& pos) const
      {
        size_t addr = pos[2];
        for (int i = 1; i >= 0; i--)
          addr = addr * size_[i] + pos[i];
        return addr;
      }
  
    public:
      void reset(const CyclicVecInt<3, 2>& size);
      inline CyclicVecFloat<3, 2>& motion(const CyclicVecInt<3, 2>& pos)
      {
        return c_[addr(pos)];
      }
      inline const CyclicVecFloat<3, 2>& motion(const CyclicVecInt<3, 2>& pos) const
      {
        return c_[addr(pos)];
      }
      inline std::pair<float, float>& radiuses(const CyclicVecInt<3, 2>& pos)
      {
        return r_[addr(pos)];
      }
      inline const std::pair<float, float>& radiuses(const CyclicVecInt<3, 2>& pos) const
      {
        return r_[addr(pos)];
      }
    };
  
    std::vector<Page> pages_;
  
  public:
    void reset(const float linear_resolution, const float angular_resolution, const int range);
    inline const CyclicVecFloat<3, 2>& getMotion(
        const int start_angle,
        const CyclicVecInt<3, 2>& end) const
    {
      return pages_[start_angle].motion(end);
    }
    inline const std::pair<float, float>& getRadiuses(
        const int start_angle,
        const CyclicVecInt<3, 2>& end) const
    {
      return pages_[start_angle].radiuses(end);
    }
  
    std::list<CyclicVecFloat<3, 2>> interpolate(
        const std::list<CyclicVecInt<3, 2>>& path_grid,
        const float interval,
        const int local_range) const;
  };
  }  // namespace planner_3d
  }  // namespace planner_cspace
  
  #endif  // PLANNER_CSPACE_PLANNER_3D_ROTATION_CACHE_H
  