normaloffset.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Daniel Heß - initial API and implementation
 ********************************************************************************/
 
#pragma once
#include <adore/mad/alfunction.h>
#include <adore/mad/rotations.h>
 
namespace adore
{
    namespace mad
    {
        template<typename T>
        ALFunction<T, adoreMatrix<T, 2, 1>>* create_normalOffset(ALFunction<T, adoreMatrix<T, 2, 1>>* path, ALFunction<T, T>* heading, ALFunction<T, T>* distance)
        {
            return funop::add(
                path,
                funop::rotate(
                    heading,
                    funop::stack(
                        new LConstFun<T, T>((T)0,path->limitLo(),path->limitHi()),  //0
                        distance
                    )
                )
            );
        }
    }
}