src/trajectories/trajectory-euclidian.cpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#include <tsid/trajectories/trajectory-euclidian.hpp>

namespace tsid {
namespace trajectories {

TrajectoryEuclidianConstant::TrajectoryEuclidianConstant(
    const std::string& name)
    : TrajectoryBase(name) {}

TrajectoryEuclidianConstant::TrajectoryEuclidianConstant(
    const std::string& name, ConstRefVector ref)
    : TrajectoryBase(name) {
  setReference(ref);
}

void TrajectoryEuclidianConstant::setReference(ConstRefVector ref) {
  m_sample.resize((unsigned int)ref.size());
  m_sample.setValue(ref);
}

unsigned int TrajectoryEuclidianConstant::size() const {
  return (unsigned int)m_sample.getValue().size();
}

const TrajectorySample& TrajectoryEuclidianConstant::operator()(double) {
  return m_sample;
}

const TrajectorySample& TrajectoryEuclidianConstant::computeNext() {
  return m_sample;
}

void TrajectoryEuclidianConstant::getLastSample(
    TrajectorySample& sample) const {
  sample = m_sample;
}

bool TrajectoryEuclidianConstant::has_trajectory_ended() const { return true; }

}  // namespace trajectories
}  // namespace tsid