pos_vel_acc_state.h

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// Copyright (C) 2013, PAL Robotics S.L.
// Copyright (c) 2008, Willow Garage, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
 
#pragma once
 
 
#include <vector>
 
namespace trajectory_interface
{
 
template <class ScalarType>
struct PosVelAccState
{
  typedef ScalarType Scalar;
 
  PosVelAccState() {}
 
  PosVelAccState(const typename std::vector<Scalar>::size_type size)
    : position(    std::vector<Scalar>(size, static_cast<Scalar>(0))),
      velocity(    std::vector<Scalar>(size, static_cast<Scalar>(0))),
      acceleration(std::vector<Scalar>(size, static_cast<Scalar>(0))),
      time_from_start(static_cast<Scalar>(0))
  {}
 
  std::vector<Scalar> position;
  std::vector<Scalar> velocity;
  std::vector<Scalar> acceleration;
  Scalar time_from_start = Scalar(0);
};
 
} // namespace