abstract-curve.hpp

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#include <cstddef>
#include <iostream>
 
#ifndef _parameteric_curves_abstract_curve_hpp
#define _parameteric_curves_abstract_curve_hpp
 
namespace parametriccurves {
template <typename Numeric, typename Point>
struct AbstractCurve {
  typedef Point point_t;
  typedef Numeric time_t;
  typedef Numeric num_t;
 
 public:
  /* Constructors - destructors */
  AbstractCurve(time_t t_min_, time_t t_max_) : t_min(t_min_), t_max(t_max_) {}
  AbstractCurve() {}
  virtual ~AbstractCurve() {}
 
 public:
  virtual const point_t operator()(const time_t& t) const = 0;
 
  virtual const point_t derivate(const time_t& t,
                                 const std::size_t& order) const = 0;
 
 public:
  /*Getters*/
  virtual const time_t tmin() const { return t_min; }
  virtual const time_t tmax() const { return t_max; }
  virtual bool checkRange(const time_t t) const {
    return (t >= t_min) && (t <= t_max);
  }
 
  /* Setters */
  virtual bool setInitialPoint(const point_t& /*x_init*/) = 0;
  virtual bool setInitialPoint(const num_t& /*x_init*/) = 0;
 
  virtual bool setTimePeriod(const time_t& traj_time_) {
    t_min = 0.0;
    t_max = traj_time_;
    return true;
  }
 
 protected:
  time_t t_min;
  time_t t_max;
};
}  // namespace parametriccurves
#endif  //_STRUCT_CURVE_ABC