.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_Motion.hpp:

Program Listing for File Motion.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_Motion.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/Motion.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2019 Open Source Robotics Foundation
    *
    * 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.
    *
   */
   
   #ifndef RMF_TRAFFIC__MOTION_HPP
   #define RMF_TRAFFIC__MOTION_HPP
   
   #include <rmf_traffic/Trajectory.hpp>
   
   #include <memory>
   
   namespace rmf_traffic {
   
   //==============================================================================
   class Motion
   {
   public:
   
     virtual Time start_time() const = 0;
   
     virtual Time finish_time() const = 0;
   
     virtual Eigen::Vector3d compute_position(Time t) const = 0;
   
     virtual Eigen::Vector3d compute_velocity(Time t) const = 0;
   
     virtual Eigen::Vector3d compute_acceleration(Time t) const = 0;
   
     // Default destructor
     virtual ~Motion() = default;
   
     static std::unique_ptr<Motion> compute_cubic_splines(
       const Trajectory::const_iterator& begin,
       const Trajectory::const_iterator& end);
   
     static std::unique_ptr<Motion> compute_cubic_splines(
       const Trajectory& trajectory);
   };
   
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__MOTION_HPP