constant.hpp

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#ifndef _parameteric_curves_constant_hpp
#define _parameteric_curves_constant_hpp
 
#include <parametric-curves/abstract-curve.hpp>
 
namespace parametriccurves {
 
template <typename Numeric = double, Eigen::Index Dim = 1,
          typename Point = Eigen::Matrix<Numeric, Dim, 1> >
struct Constant : public AbstractCurve<Numeric, Point> {
  typedef Point point_t;
  typedef Numeric time_t;
  typedef Numeric num_t;
  typedef AbstractCurve<Numeric, Point> curve_abc_t;
 
 public:
 
  Constant(const time_t& traj_time,
           const point_t& x_init_ = Eigen::Matrix<Numeric, Dim, 1>::Zero())
      : curve_abc_t(0, traj_time), x_init(x_init_) {}
 
  ~Constant() {}
 
 public:
  virtual const point_t operator()(const time_t& t) const { return x_init; }
 
  virtual const point_t derivate(const time_t& t,
                                 const std::size_t& order) const {
    return point_t::Zero();
  }
 
  virtual bool setInitialPoint(const point_t& x_init_) {
    if (x_init.size() != x_init_.size()) return false;
    x_init = x_init_;
  }
 
  virtual bool setInitialPoint(const double& x_init_) {
    if (Dim != 1) return false;
    x_init[0] = x_init_;
    return true;
  }
 
 protected:
  /*Attributes*/
  point_t x_init;
};
}  // namespace parametriccurves
#endif  //_CLASS_EXACTCUBIC