classdef stateSpaceTrajectoryOptimalFrenet < nav.StateSpace
    %stateSpaceTrajectoryOptimalFrenet SE(2) state space with dynamic states
    %   The stateSpaceTrajectoryOptimalFrenet object stores parameters and has functions
    %   for the state space composed of a state vector with 7 variables: 
    %   [x y theta kappa speed acceleration time].

%   Copyright 2019 The MathWorks, Inc.

    properties (Constant, Access = protected)
        %DefaultStateBounds Default bounds for trajectoryOptimalFrenet state space
        DefaultStateBounds = [-inf, inf; ...
                -inf, inf; ...
                -pi,  pi; ...
                -inf, inf;...
                -inf, inf; ...
                -inf, inf; ...
                -inf, inf];
    end
    methods
        function obj = stateSpaceTrajectoryOptimalFrenet()
            %stateSpaceTrajectoryOptimalFrenet Construct State Space
            
            bounds = stateSpaceTrajectoryOptimalFrenet.DefaultStateBounds;
            obj@nav.StateSpace("stateSpaceTrajectoryOptimalFrenet",7,bounds)
        end
    end
    methods
        % Dummy abstract methods inherited from nav.StateSpace
        function distance(~)
        end
        function interpolate(~)
        end
        function sampleGaussian(~)
        end
        function sampleUniform(~)
        end
        function enforceStateBounds(~)
        end
        function copyObj = copy(obj)
            copyObj = obj;
        end
        
    end
end
