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trajectory-euclidian.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_euclidian_hpp__
19#define __invdyn_trajectory_euclidian_hpp__
20
22
23namespace tsid
24{
25 namespace trajectories
26 {
27
29 {
30 public:
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
32
35
36 TrajectoryEuclidianConstant(const std::string & name);
37
38 TrajectoryEuclidianConstant(const std::string & name, ConstRefVector ref);
39
40 unsigned int size() const;
41
43
44 const TrajectorySample & operator()(double time);
45
47
48 void getLastSample(TrajectorySample & sample) const;
49
50 bool has_trajectory_ended() const;
51
52 protected:
54 };
55
56 }
57}
58
59#endif // ifndef __invdyn_trajectory_euclidian_hpp__
Definition: trajectory-base.hpp:85
virtual const TrajectorySample & getLastSample() const
Definition: trajectory-base.hpp:98
Definition: trajectory-euclidian.hpp:29
void setReference(ConstRefVector ref)
Definition: trajectory-euclidian.cpp:36
const TrajectorySample & operator()(double time)
Definition: trajectory-euclidian.cpp:47
Vector m_ref
Definition: trajectory-euclidian.hpp:53
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector Vector
Definition: trajectory-euclidian.hpp:33
unsigned int size() const
Definition: trajectory-euclidian.cpp:42
bool has_trajectory_ended() const
Definition: trajectory-euclidian.cpp:62
math::ConstRefVector ConstRefVector
Definition: trajectory-euclidian.hpp:34
const TrajectorySample & computeNext()
Definition: trajectory-euclidian.cpp:52
Definition: trajectory-base.hpp:36
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Definition: constraint-bound.hpp:27