namespace RobotNet10.GlobalPathPlanner;

/// <summary>
/// Factory interface for creating path planner instances optimized for different robot types.
/// Each planner type uses algorithms and strategies tailored to the specific kinematics and constraints of the robot.
/// </summary>
public interface IPathPlannerFactory
{
    /// <summary>
    /// Creates a path planner optimized for differential drive robots.
    /// Differential drive robots have two independently driven wheels on a common axis.
    /// </summary>
    /// <returns>An instance of <see cref="IPathPlanner"/> configured for differential drive robots.</returns>
    IPathPlanner CreateDifferentialPlanner();

    /// <summary>
    /// Creates a path planner optimized for forklift robots (version 1).
    /// Forklift robots have specific constraints related to their lifting mechanism and turning radius.
    /// </summary>
    /// <returns>An instance of <see cref="IPathPlanner"/> configured for forklift robots.</returns>
    IPathPlanner CreateForkliftPlanner();

    /// <summary>
    /// Creates an enhanced path planner optimized for forklift robots (version 2).
    /// This version uses improved algorithms (SSE A*) for better performance and path quality.
    /// </summary>
    /// <returns>An instance of <see cref="IPathPlanner"/> configured for forklift robots with enhanced algorithms.</returns>
    IPathPlanner CreateForkliftPlannerV2();

    /// <summary>
    /// Creates a path planner optimized for omni-directional drive robots.
    /// Omni-drive robots can move in any direction without changing orientation.
    /// Note: Currently uses the same planner as differential drive.
    /// </summary>
    /// <returns>An instance of <see cref="IPathPlanner"/> configured for omni-directional drive robots.</returns>
    IPathPlanner CreateOmniDrivePlanner();
}