/**
 * @brief Check if some point ahead on the road is closer (L2) than along the road, to take a shortcut
 * 
 * @param innermodel ...
 * @param road ...
 * @param laserData ...
 * @return bool
 */
bool ElasticBand::shortCut(InnerModel *innermodel, WayPoints &road, const RoboCompLaser::TLaserData &laserData)
{
	//Compute distances from robot to all points ahead. If any of them is laser-visible and  significantly shorter than de distance along de road, try it!
	WayPoints::iterator robot = road.getIterToClosestPointToRobot();
	WayPoints::iterator best = road.begin();
	for (WayPoints::iterator it = robot + 1; it != road.end(); ++it)
	{
		//qDebug() << __FUNCTION__ << it->isVisible << (it->pos - robot->pos).norm2() << road.computeDistanceBetweenPointsAlongRoad(robot, it);
		if ( it->isVisible )
		{
			if (road.computeDistanceBetweenPointsAlongRoad(robot, it) - (it->pos - robot->pos).norm2() >  300)  //Half robot SACARRRR
			{
				qDebug() << __FUNCTION__ << "Candidato";
				//Check if the robot passes through the straight line
				if (checkCollisionAlongRoad(innermodel, laserData, road, robot, it, ROBOT_RADIUS))
				{
					//Is so remove all intermadiate points between robot and new subtarget
					qDebug() << __FUNCTION__ << "Confirmado";
					best = it;
				}
			}
		}
		else
			break;
	}
	if (best != road.begin() and (robot + 1) != road.end())
		road.erase(robot + 1, best);
	return false;
}
/**
 * @brief Check if any of the waypoints has nan coordinates
 * 
 * @param road ...
 * @return bool
 */
bool ElasticBand::checkIfNAN(const WayPoints &road)
{
	for (auto it = road.begin(); it != road.end(); ++it)
		if (std::isnan(it->pos.x()) or std::isnan(it->pos.y()) or std::isnan(it->pos.z()))
		{
			road.print();
			return true;
		}
	return false;
}