kinematic_model.h

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#ifndef TOWR_MODELS_KINEMATIC_MODEL_H_
#define TOWR_MODELS_KINEMATIC_MODEL_H_

#include <memory>
#include <vector>

#include <Eigen/Dense>

namespace towr {

class KinematicModel {
public:
  using Ptr      = std::shared_ptr<KinematicModel>;
  using EEPos    = std::vector<Eigen::Vector3d>;
  using Vector3d = Eigen::Vector3d;

  KinematicModel (int n_ee)
  {
    nominal_stance_.resize(n_ee);
    max_dev_from_nominal_.setZero();
  }

  virtual ~KinematicModel () = default;

  virtual EEPos GetNominalStanceInBase() const
  {
    return nominal_stance_;
  }

  virtual Vector3d GetMaximumDeviationFromNominal() const
  {
    return max_dev_from_nominal_;
  }

  int GetNumberOfEndeffectors() const
  {
    return nominal_stance_.size();
  }

protected:
  EEPos nominal_stance_;
  Vector3d max_dev_from_nominal_;
};

} /* namespace towr */

#endif /* TOWR_MODELS_KINEMATIC_MODEL_H_ */