#ifndef SIDEPARKCALC_H
#define SIDEPARKCALC_H


#include <math.h>


enum SideParkMode
{
    ParkAtLeft =1,
    ParkAtRight =2
};

class SideParkCalc
{
public:
    SideParkCalc(double x,double y,double hdg);

public:
    void CalcPark();

private:
    double mfLastDirectDis = 0.3;
    double mfRaidus = 5.0;
    double mfMaxAngle = 45.0 *M_PI/180.0;

private:
    double mx,my,mhdg;

    bool mbPark = false;

private:
    SideParkMode CalcParkMode();

    void ParkAtRightCalc();
    void ParkAtRightCalc_Model1();
    void ParkAtRightCalc_Model2();

    void ParkAtLeftCalc();
    void ParkAtLeftCalc_Model1();
    void ParkAtLeftCalc_Model2();
};

#endif // SIDEPARKCALC_H