trajectory.hpp

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#pragma once
 
#include "hebi.h"
 
#include <memory>
#include <vector>
 
#include "Eigen/Eigen"
#include "util.hpp"
 
using namespace Eigen;
 
namespace hebi {
namespace trajectory {
 
class Trajectory final {
private:
  std::vector<HebiTrajectoryPtr> trajectories_;
 
  const size_t number_of_joints_;
 
  const size_t number_of_waypoints_;
 
  const double start_time_;
 
  const double end_time_;
 
  Trajectory(std::vector<HebiTrajectoryPtr> trajectories, size_t number_of_waypoints, double start_time,
             double end_time);
 
public:
  static std::shared_ptr<Trajectory> createUnconstrainedQp(const VectorXd& time_vector, const MatrixXd& positions,
                                                           const MatrixXd* velocities = nullptr,
                                                           const MatrixXd* accelerations = nullptr);
 
  ~Trajectory() noexcept;
 
  size_t getJointCount() const { return number_of_joints_; }
 
  size_t getWaypointCount() const { return number_of_waypoints_; }
 
  double getStartTime() const { return start_time_; }
 
  double getEndTime() const { return end_time_; }
 
  double getDuration() const;
 
  bool getState(double time, VectorXd* position, VectorXd* velocity, VectorXd* acceleration) const;
 
private:
  HEBI_DISABLE_COPY_MOVE(Trajectory)
};
 
} // namespace trajectory
} // namespace hebi