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trajectory-base.hpp
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1//
2// Copyright (c) 2017-2021 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_base_hpp__
19#define __invdyn_trajectory_base_hpp__
20
21#include "tsid/deprecated.hh"
22#include "tsid/macros.hpp"
23#include "tsid/math/fwd.hpp"
24#include "tsid/math/utils.hpp"
25
26#include <string>
27
28namespace tsid
29{
30 namespace trajectories
31 {
32
33 typedef Eigen::Map<const Eigen::Matrix<double, 3, 3>> MapMatrix3;
34
36 {
37 public:
38 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39
40 // TODO rename pos, vel, acc → value, derivative, second_derivative
42
45 // getters / setters with updated names for math::Vector
46 const math::Vector & getValue() const { return pos; }
47 const math::Vector & getDerivative() const { return vel; }
48 const math::Vector & getSecondDerivative() const { return acc; }
49 void setValue(const math::Vector & value) { pos = value; }
50 void setDerivative(const math::Vector & derivative) { vel = derivative; }
51 void setSecondDerivative(const math::Vector & second_derivative) { acc = second_derivative; }
52
53 TrajectorySample(unsigned int size=0)
54 {
55 resize(size);
56 }
57
58 TrajectorySample(unsigned int size_value, unsigned int size_derivative)
59 {
60 resize(size_value, size_derivative);
61 }
62
63 void resize(unsigned int size)
64 {
65 resize(size, size);
66 }
67
68 void resize(unsigned int size_value, unsigned int size_derivative)
69 {
70 pos.setZero(size_value);
71 vel.setZero(size_derivative);
72 acc.setZero(size_derivative);
73 }
74
75 // declare default constructors / destructors to disable the deprecation
76 // message for them. TODO: Remove this after the
77 // pos/vel/acc → value/derivative/second_derivative rename
78 ~TrajectorySample() = default;
81 };
82
83
85 {
86 public:
87 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
88
89 TrajectoryBase(const std::string & name):
90 m_name(name){}
91
92 virtual unsigned int size() const = 0;
93
94 virtual const TrajectorySample & operator()(double time) = 0;
95
96 virtual const TrajectorySample & computeNext() = 0;
97
98 virtual const TrajectorySample & getLastSample() const { return m_sample; }
99
100 virtual void getLastSample(TrajectorySample & sample) const = 0;
101
102 virtual bool has_trajectory_ended() const = 0;
103
104 protected:
105 std::string m_name;
107 };
108 }
109}
110
111#endif // ifndef __invdyn_trajectory_base_hpp__
Definition: trajectory-base.hpp:85
TrajectorySample m_sample
Definition: trajectory-base.hpp:106
virtual void getLastSample(TrajectorySample &sample) const =0
virtual const TrajectorySample & computeNext()=0
virtual const TrajectorySample & getLastSample() const
Definition: trajectory-base.hpp:98
EIGEN_MAKE_ALIGNED_OPERATOR_NEW TrajectoryBase(const std::string &name)
Definition: trajectory-base.hpp:89
virtual const TrajectorySample & operator()(double time)=0
virtual bool has_trajectory_ended() const =0
virtual unsigned int size() const =0
std::string m_name
Definition: trajectory-base.hpp:105
Definition: trajectory-base.hpp:36
TSID_DISABLE_WARNING_PUSH TSID_DISABLE_WARNING_DEPRECATED const math::Vector & getValue() const
Definition: trajectory-base.hpp:46
TrajectorySample(unsigned int size_value, unsigned int size_derivative)
Definition: trajectory-base.hpp:58
void resize(unsigned int size_value, unsigned int size_derivative)
Definition: trajectory-base.hpp:68
TrajectorySample(const TrajectorySample &)=default
TrajectorySample(unsigned int size=0)
Definition: trajectory-base.hpp:53
void setSecondDerivative(const math::Vector &second_derivative)
Definition: trajectory-base.hpp:51
EIGEN_MAKE_ALIGNED_OPERATOR_NEW TSID_DEPRECATED math::Vector vel
Definition: trajectory-base.hpp:41
EIGEN_MAKE_ALIGNED_OPERATOR_NEW TSID_DEPRECATED math::Vector acc
Definition: trajectory-base.hpp:41
const math::Vector & getSecondDerivative() const
Definition: trajectory-base.hpp:48
void setDerivative(const math::Vector &derivative)
Definition: trajectory-base.hpp:50
const math::Vector & getDerivative() const
Definition: trajectory-base.hpp:47
void resize(unsigned int size)
Definition: trajectory-base.hpp:63
void setValue(const math::Vector &value)
Definition: trajectory-base.hpp:49
EIGEN_MAKE_ALIGNED_OPERATOR_NEW TSID_DEPRECATED math::Vector pos
Definition: trajectory-base.hpp:41
#define TSID_DEPRECATED
Definition: deprecated.hh:37
#define TSID_DISABLE_WARNING_PUSH
Definition: macros.hpp:22
#define TSID_DISABLE_WARNING_DEPRECATED
Definition: macros.hpp:24
#define TSID_DISABLE_WARNING_POP
Definition: macros.hpp:23
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Eigen::Map< const Eigen::Matrix< double, 3, 3 > > MapMatrix3
Definition: trajectory-base.hpp:33
Definition: constraint-bound.hpp:27