trajectory_maker.h

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#ifndef DESCARTES_TEST_TRAJECTORY_MAKER_H
#define DESCARTES_TEST_TRAJECTORY_MAKER_H

#include "descartes_trajectory/cart_trajectory_pt.h"
#include "descartes_core/utils.h"

namespace descartes_tests
{
// Makes a linear trajectory with a given tool speed
std::vector<descartes_core::TrajectoryPtPtr> makeConstantVelocityTrajectory(const Eigen::Vector3d& start,
                                                                            const Eigen::Vector3d& stop,
                                                                            double tool_vel, size_t n_steps);

// Make a pattern that moves in a line but that oscillates along the
// y axis as it moves
std::vector<descartes_core::TrajectoryPtPtr> makeZigZagTrajectory(double x_start, double x_stop, double y_amplitude,
                                                                  double tool_vel, size_t n_steps);
}

#endif