trajectories/trajectory-se3.hpp

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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/>.
//

#ifndef __invdyn_trajectory_se3_hpp__
#define __invdyn_trajectory_se3_hpp__

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

#include <pinocchio/spatial/se3.hpp>

namespace tsid {
namespace trajectories {

class TrajectorySE3Constant : public TrajectoryBase {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef pinocchio::SE3 SE3;

  TrajectorySE3Constant(const std::string& name);

  TrajectorySE3Constant(const std::string& name, const SE3& M);

  virtual ~TrajectorySE3Constant() {}

  unsigned int size() const;

  void setReference(const SE3& M);

  const TrajectorySample& operator()(double time);

  const TrajectorySample& computeNext();

  void getLastSample(TrajectorySample& sample) const;

  bool has_trajectory_ended() const;

 protected:
  SE3 m_M;
};

}  // namespace trajectories
}  // namespace tsid

#endif  // ifndef __invdyn_trajectory_se3_hpp__