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constant.hpp
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1
9#ifndef _parameteric_curves_constant_hpp
10#define _parameteric_curves_constant_hpp
11
13
14namespace parametriccurves {
15
20template <typename Numeric = double, Eigen::Index Dim = 1,
21 typename Point = Eigen::Matrix<Numeric, Dim, 1> >
22struct Constant : public AbstractCurve<Numeric, Point> {
23 typedef Point point_t;
24 typedef Numeric time_t;
25 typedef Numeric num_t;
27
28 public:
30
31 Constant(const time_t& traj_time,
32 const point_t& x_init_ = Eigen::Matrix<Numeric, Dim, 1>::Zero())
33 : curve_abc_t(0, traj_time), x_init(x_init_) {}
34
37
38 public:
39 virtual const point_t operator()(const time_t& t) const { return x_init; }
40
41 virtual const point_t derivate(const time_t& t,
42 const std::size_t& order) const {
43 return point_t::Zero();
44 }
45
46 virtual bool setInitialPoint(const point_t& x_init_) {
47 if (x_init.size() != x_init_.size()) return false;
49 }
50
51 virtual bool setInitialPoint(const double& x_init_) {
52 if (Dim != 1) return false;
53 x_init[0] = x_init_;
54 return true;
55 }
56
57 protected:
58 /*Attributes*/
60};
61} // namespace parametriccurves
62#endif //_CLASS_EXACTCUBIC
Definition abstract-curve.hpp:16
Eigen::Matrix< Numeric, 3, 1 > Point
Definition effector_spline.h:28
double Numeric
Definition effector_spline.h:26
Represents a curve of dimension Dim is Safe is false, no verification is made on the evaluation of th...
Definition abstract-curve.hpp:21
Definition constant.hpp:22
Constant(const time_t &traj_time, const point_t &x_init_=Eigen::Matrix< Numeric, Dim, 1 >::Zero())
Constructor.
Definition constant.hpp:31
~Constant()
Destructor.
Definition constant.hpp:36
Point point_t
Definition constant.hpp:23
Numeric num_t
Definition constant.hpp:25
virtual const point_t operator()(const time_t &t) const
Evaluation of the cubic spline at time t.
Definition constant.hpp:39
point_t x_init
Definition constant.hpp:59
Numeric time_t
Definition constant.hpp:24
virtual const point_t derivate(const time_t &t, const std::size_t &order) const
Evaluation of the derivative spline at time t.
Definition constant.hpp:41
virtual bool setInitialPoint(const double &x_init_)
Definition constant.hpp:51
virtual bool setInitialPoint(const point_t &x_init_)
Definition constant.hpp:46
AbstractCurve< Numeric, Point > curve_abc_t
Definition constant.hpp:26
Definition curve-constraint.hpp:18