cartesian_trajectory_segment.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 <trajectory_interface/quintic_spline_segment.h>
#include <trajectory_interface/pos_vel_acc_state.h>
#include <cartesian_trajectory_interpolation/cartesian_state.h>
 
namespace ros_controllers_cartesian
{
using QuinticSplineSegment = trajectory_interface::QuinticSplineSegment<double>;
 
class CartesianTrajectorySegment : public QuinticSplineSegment
{
public:
  using Time = QuinticSplineSegment::Time;
 
  using State = CartesianState;
 
  using SplineState = QuinticSplineSegment::State;
 
  CartesianTrajectorySegment() = delete;
 
  virtual ~CartesianTrajectorySegment(){};
 
  CartesianTrajectorySegment(const Time& start_time, const CartesianState& start_state, const Time& end_time,
                             const CartesianState& end_state);
 
  void sample(const Time& time, CartesianState& state) const;
 
private:
};
 
std::ostream& operator<<(std::ostream& os, const CartesianTrajectorySegment::SplineState& state);
 
CartesianTrajectorySegment::SplineState convert(const CartesianState& state);
 
CartesianState convert(const CartesianTrajectorySegment::SplineState& state);
 
}  // namespace ros_controllers_cartesian