functions.h

#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 timeInterval, 
	std::vector<ibex::IntervalVector> obstacles, std::vector<std::vector<std::vector<double>>> borderList);

void updateBoatAndObstaclesData(std::vector<std::vector<double>> waypoints, ibex::IntervalVector &boatState, 
	std::vector<ibex::Interval> boatSpeed, ibex::Interval &timeInterval, double &boatHead, std::vector<ibex::IntervalVector> &obstacles, int currentSegmentIndex);

void waypointManagement(double boatHead, std::vector<ibex::Interval>& boatSpeed, ibex::IntervalVector boatState, 
	double endTime, std::vector<std::vector<double>>& waypoints, int currentSegmentIndex);

void drawTrajectory(std::vector<std::vector<double>> formerWpts, std::vector<std::vector<double>> waypoints, 
	std::vector<ibex::Interval> boatSpeed, ibex::IntervalVector boatState, std::vector<ibex::IntervalVector> obstacles, 
	std::vector<std::vector<std::vector<double>>> borderList);

void drawPath(std::vector<std::vector<double>> formerWpts, std::vector<std::vector<double>> waypoints, 
	std::vector<ibex::Interval> boatSpeed, ibex::IntervalVector boatState, std::vector<ibex::IntervalVector> obstacles, 
	std::vector<std::vector<std::vector<double>>> borderList);

double computeHeading(ibex::Interval XspeedComponent, ibex::Interval YspeedComponent);
}