18 #ifndef __invdyn_trajectory_base_hpp__
19 #define __invdyn_trajectory_base_hpp__
30 namespace trajectories
33 typedef Eigen::Map<const Eigen::Matrix<double, 3, 3>>
MapMatrix3;
38 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
60 resize(size_value, size_derivative);
68 void resize(
unsigned int size_value,
unsigned int size_derivative)
70 pos.setZero(size_value);
71 vel.setZero(size_derivative);
72 acc.setZero(size_derivative);
87 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
92 virtual unsigned int size()
const = 0;
Definition: trajectory-base.hpp:85
virtual const TrajectorySample & computeNext()=0
TrajectorySample m_sample
Definition: trajectory-base.hpp:106
virtual void getLastSample(TrajectorySample &sample) const =0
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 const TrajectorySample & getLastSample() const
Definition: trajectory-base.hpp:98
virtual unsigned int size() const =0
std::string m_name
Definition: trajectory-base.hpp:105
Definition: trajectory-base.hpp:36
const math::Vector & getDerivative() const
Definition: trajectory-base.hpp:47
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
void setDerivative(const math::Vector &derivative)
Definition: trajectory-base.hpp:50
~TrajectorySample()=default
const math::Vector & getSecondDerivative() const
Definition: trajectory-base.hpp:48
void resize(unsigned int size)
Definition: trajectory-base.hpp:63
TSID_DISABLE_WARNING_PUSH TSID_DISABLE_WARNING_DEPRECATED const math::Vector & getValue() const
Definition: trajectory-base.hpp:46
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