IPoseFactory.java

package aima.core.robotics.impl.map;

import aima.core.robotics.datatypes.IMclMove;
import aima.core.robotics.impl.datatypes.IPose2D;
import aima.core.util.math.geom.shapes.Point2D;

/**
 * This interface defines a factory for the class implementing {@link IPose2D} in the context of the {@link MclCartesianPlot2D}.
 *  
 * @author Arno von Borries
 * @author Jan Phillip Kretzschmar
 * @author Andreas Walscheid
 *
 * @param <P> a pose implementing {@link IPose2D}.
 * @param <M> a movement (or a sequence of movements) implementing {@link IMclMove}.
 */
public interface IPoseFactory<P extends IPose2D<P,M>,M extends IMclMove<M>> {
	/**
	 * Creates a new instance of {@code <P>} for the given parameters.
	 * @param point the 2D coordinates of the new pose.
	 * @return the new pose.
	 */
	P getPose(Point2D point);

	/**
	 * Creates a new instance of {@code <P>} for the given parameters.<br/>
	 * This function is used to create the result of {@link MclCartesianPlot2D}{@code .getAverage()}.
	 * @param point the 2D coordinates of the new pose.
	 * @param heading the heading of the pose. This heading may be invalid. Based on the given environment this can be corrected or ignored.
	 * @return the new pose.
	 */
	P getPose(Point2D point, double heading);
	
	/**
	 * Checks whether the heading of a pose is valid.
	 * @param pose the pose to be checked.
	 * @return true if the heading is valid.
	 */
	boolean isHeadingValid(P pose);
}