package aima.core.robotics.datatypes;
/**
* A pose consists of a position in the environment and a heading in which the pose is facing.<br/>
* In a two-dimensional environment this would be an position represented through a point with {@code (x,y)} and an angle.<br/>
* In an n-dimensional environment the angle is represented through a vector.<br/>
*
* @author Arno von Borries
* @author Jan Phillip Kretzschmar
* @author Andreas Walscheid
*
* @param <P> the class that is implementing this interface.
* @param <V> an n-1-dimensional vector implementing {@link IMclVector}, where n is the dimensionality of the environment. This vector describes the angle between two rays in the environment.
* @param <M> a movement (or sequence of movements) of the robot, implementing {@link IMclMove}.
*/
public interface IMclPose<P extends IMclPose<P,V,M>,V extends IMclVector,M extends IMclMove<M>> extends Cloneable {
/**
* Moves a pose according to a given move.<br/>
* This function should return a new object to prevent unpredictable behavior through more than one usage of the same pose.
* @param move the move to be added onto the pose.
* @return a new pose that has been moved.
*/
P applyMovement(M move);
/**
* Rotates a pose by a given {@link IMclVector}.<br/>
* This function should return a new object to prevent unpredictable behavior through more than one usage of the same pose.
* @param angle the angle by which the pose should be rotated.
* @return a new pose that has been rotated.
*/
P addAngle(V angle);
/**
* Clones an object according to {@link Cloneable}.
* @return a new pose with the same position and heading.
*/
P clone();
/**
* Calculates the length of the straight line between this pose and another pose.<br/>
* {@code x.distanceTo(y)} has to return the same value as {@code y.distanceTo(x)}.
* @param pose another pose to which the distance is calculated.
* @return the distance between the two poses.
*/
double distanceTo(P pose);
}