time_series_se2.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020, Christoph Rösmann, All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program 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 Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/
 
#ifndef UTILS_TIME_SERIES_SE2_H_
#define UTILS_TIME_SERIES_SE2_H_
 
#include <corbo-core/time_series.h>
 
#include <Eigen/Core>
 
namespace mpc_local_planner {
 
class TimeSeriesSE2 : public corbo::TimeSeries
{
 public:
    using Ptr      = std::shared_ptr<TimeSeriesSE2>;
    using ConstPtr = std::shared_ptr<const TimeSeriesSE2>;
 
    TimeSeriesSE2() = default;
    explicit TimeSeriesSE2(int value_dim) : TimeSeries(value_dim) {}
 
    bool getValuesInterpolate(double time, Eigen::Ref<Eigen::VectorXd> values, Interpolation interpolation = Interpolation::Linear,
                              Extrapolation extrapolate = Extrapolation::NoExtrapolation, double tolerance = 1e-6) const override;
 
    double computeMeanOverall() override;
    void computeMeanCwise(Eigen::Ref<Eigen::VectorXd> mean_values) override;
};
 
}  // namespace mpc_local_planner
 
#endif  // UTILS_TIME_SERIES_SE2_H_