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functions.h
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functions.h
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#include "ibex.h"
#include "vibes.h"
#include "interval_tools.h"
namespace functions{
void manageCollision(std::vector<std::vector<double>>& waypoints, ibex::IntervalVector boatState, std::vector<ibex::Interval>& boatSpeed, std::vector<ibex::IntervalVector> obstacles, std::vector<std::vector<std::vector<double>>> borderList);
void pathReplanning(double& boatHead, ibex::Interval& speed, ibex::IntervalVector boatState, ibex::Interval T, std::vector<ibex::IntervalVector> obstacles, std::vector<std::vector<std::vector<double>>> borderList);
void waypointManagement(double boatHead, std::vector<ibex::Interval>& boatSpeed, ibex::IntervalVector boatState, double t, std::vector<std::vector<double>>& waypoints, int i);
void drawTrajectory(std::vector<std::vector<double>> waypoints, std::vector<ibex::Interval> boatSpeed, ibex::IntervalVector boatState, std::vector<ibex::IntervalVector> obstacles);
}