mapf 0.3.0

Base traits and utilities for multi-agent planning
Documentation 
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/*
 * Copyright (C) 2023 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

use crate::motion::{r2::Point, se2};

pub trait MaybePositioned {
    fn maybe_point(&self) -> Option<Point>;
}

/// A trait to get position information from an object.
///
/// We create this trait instead of using `Borrow<Point>` in order to support
/// objects that want to generate a position instead of containing a position
/// that it could return a reference to.
pub trait Positioned: MaybePositioned {
    fn point(&self) -> Point {
        self.maybe_point().unwrap()
    }
}

impl MaybePositioned for Point {
    fn maybe_point(&self) -> Option<Point> {
        Some(*self)
    }
}

impl Positioned for Point {}

impl MaybePositioned for se2::Position {
    fn maybe_point(&self) -> Option<Point> {
        Some(self.translation.vector.into())
    }
}

impl Positioned for se2::Position {}

impl MaybePositioned for usize {
    fn maybe_point(&self) -> Option<Point> {
        None
    }
}