| Directory: | ./ |
|---|---|
| File: | include/parametric-curves/curve-constraint.hpp |
| Date: | 2025-04-07 13:04:42 |
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| Lines: | 6 | 6 | 100.0% |
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| 1 | /** | ||
| 2 | * \file curve_constraint.h | ||
| 3 | * \brief struct to define constraints on start / end velocities and | ||
| 4 | * acceleration on a curve \author Steve T. \version 0.1 \date 04/05/2017 | ||
| 5 | * | ||
| 6 | */ | ||
| 7 | |||
| 8 | #ifndef _CLASS_CURVE_CONSTRAINT | ||
| 9 | #define _CLASS_CURVE_CONSTRAINT | ||
| 10 | |||
| 11 | #include <parametric-curves/MathDefs.h> | ||
| 12 | |||
| 13 | #include <functional> | ||
| 14 | #include <vector> | ||
| 15 | |||
| 16 | namespace parametriccurves { | ||
| 17 | template <typename Point> | ||
| 18 | struct curve_constraints { | ||
| 19 | typedef Point point_t; | ||
| 20 | 2 | curve_constraints() | |
| 21 |
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2 | : init_vel(point_t::Zero()), |
| 22 | 2 | init_acc(init_vel), | |
| 23 | 2 | end_vel(init_vel), | |
| 24 | 2 | end_acc(init_vel) {} | |
| 25 | |||
| 26 | 4 | ~curve_constraints() {} | |
| 27 | point_t init_vel; | ||
| 28 | point_t init_acc; | ||
| 29 | point_t end_vel; | ||
| 30 | point_t end_acc; | ||
| 31 | }; | ||
| 32 | } // namespace parametriccurves | ||
| 33 | #endif //_CLASS_CUBICZEROVELACC | ||
| 34 |