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trajectory-se3.hpp
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1//
2// Copyright (c) 2017 CNRS
3//
4// This file is part of tsid
5// tsid is free software: you can redistribute it
6// and/or modify it under the terms of the GNU Lesser General Public
7// License as published by the Free Software Foundation, either version
8// 3 of the License, or (at your option) any later version.
9// tsid is distributed in the hope that it will be
10// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12// General Lesser Public License for more details. You should have
13// received a copy of the GNU Lesser General Public License along with
14// tsid If not, see
15// <http://www.gnu.org/licenses/>.
16//
17
18#ifndef __invdyn_trajectory_se3_hpp__
19#define __invdyn_trajectory_se3_hpp__
20
22
23#include <pinocchio/spatial/se3.hpp>
24
25namespace tsid
26{
27 namespace trajectories
28 {
29
31 {
32 public:
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
34
35 typedef pinocchio::SE3 SE3;
36
37 TrajectorySE3Constant(const std::string & name);
38
39 TrajectorySE3Constant(const std::string & name, const SE3 & M);
40
41 unsigned int size() const;
42
43 void setReference(const SE3 & M);
44
45 const TrajectorySample & operator()(double time);
46
48
49 void getLastSample(TrajectorySample & sample) const;
50
51 bool has_trajectory_ended() const;
52
53
54 protected:
56 };
57
58 }
59}
60
61#endif // ifndef __invdyn_trajectory_se3_hpp__
Definition: trajectory-base.hpp:85
virtual const TrajectorySample & getLastSample() const
Definition: trajectory-base.hpp:98
Definition: trajectory-se3.hpp:31
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::SE3 SE3
Definition: trajectory-se3.hpp:35
const TrajectorySample & operator()(double time)
Definition: trajectory-se3.cpp:59
const TrajectorySample & computeNext()
Definition: trajectory-se3.cpp:64
SE3 m_M
Definition: trajectory-se3.hpp:55
bool has_trajectory_ended() const
Definition: trajectory-se3.cpp:74
unsigned int size() const
Definition: trajectory-se3.cpp:45
void setReference(const SE3 &M)
Definition: trajectory-se3.cpp:50
Definition: trajectory-base.hpp:36
Definition: constraint-bound.hpp:27