git_ws/mpc_control/src/mpc_tools.h

#ifndef MPC_TOOLS_HH
#define MPC_TOOLS_HH 

#include <vector>
#include <Eigen/Core>
#include <Eigen/QR>
#include <pcl/point_types.h>

// For converting back and forth between radians and degrees.
constexpr double pi() { return M_PI; }
double deg2rad(double x) { return x * pi() / 180; }
double rad2deg(double x) { return x * 180 / pi(); }

class mpc_tools{

public:
    mpc_tools();
    ~mpc_tools();

    Eigen::VectorXd polyfit(Eigen::VectorXd xvals, Eigen::VectorXd yvals, int order);

    double polyeval(Eigen::VectorXd coeffs, double x);

    bool filterPath(pcl::PointXYZ curr_pos, double theta, Eigen::VectorXd *x_car, Eigen::VectorXd *y_car, int numOfPoints);

public:

    std::vector<double> ptsx;
    std::vector<double> ptsy;
};

#endif /* MPC_TOOLS_HH */