cartesian_trajectory.h

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2021 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------

//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------

#pragma once

#include <cartesian_trajectory_interpolation/cartesian_trajectory_segment.h>
#include <cartesian_trajectory_interpolation/cartesian_state.h>
#include <cartesian_control_msgs/CartesianTrajectory.h>
#include <vector>

namespace ros_controllers_cartesian
{
class CartesianTrajectory
{
public:
  CartesianTrajectory() = default;

  CartesianTrajectory(const cartesian_control_msgs::CartesianTrajectory& ros_trajectory);

  virtual ~CartesianTrajectory(){};

  bool init(const cartesian_control_msgs::CartesianTrajectory& ros_trajectory);

  void sample(const CartesianTrajectorySegment::Time& time, CartesianState& state);

private:
  std::vector<CartesianTrajectorySegment> trajectory_data_;
};

}  // namespace ros_controllers_cartesian