1 |
|
|
// |
2 |
|
|
// Copyright (c) 2017-2021 CNRS |
3 |
|
|
// |
4 |
|
|
// This file is part of tsid |
5 |
|
|
// tsid is free software: you can redistribute it |
6 |
|
|
// and/or modify it under the terms of the GNU Lesser General Public |
7 |
|
|
// License as published by the Free Software Foundation, either version |
8 |
|
|
// 3 of the License, or (at your option) any later version. |
9 |
|
|
// tsid is distributed in the hope that it will be |
10 |
|
|
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
11 |
|
|
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
12 |
|
|
// General Lesser Public License for more details. You should have |
13 |
|
|
// received a copy of the GNU Lesser General Public License along with |
14 |
|
|
// tsid If not, see |
15 |
|
|
// <http://www.gnu.org/licenses/>. |
16 |
|
|
// |
17 |
|
|
|
18 |
|
|
#ifndef __invdyn_trajectory_base_hpp__ |
19 |
|
|
#define __invdyn_trajectory_base_hpp__ |
20 |
|
|
|
21 |
|
|
#include "tsid/deprecated.hh" |
22 |
|
|
#include "tsid/macros.hpp" |
23 |
|
|
#include "tsid/math/fwd.hpp" |
24 |
|
|
#include "tsid/math/utils.hpp" |
25 |
|
|
|
26 |
|
|
#include <string> |
27 |
|
|
|
28 |
|
|
namespace tsid { |
29 |
|
|
namespace trajectories { |
30 |
|
|
|
31 |
|
|
typedef Eigen::Map<const Eigen::Matrix<double, 3, 3>> MapMatrix3; |
32 |
|
|
|
33 |
|
|
class TrajectorySample { |
34 |
|
|
public: |
35 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
36 |
|
|
|
37 |
|
|
// TODO rename pos, vel, acc → value, derivative, second_derivative |
38 |
|
|
TSID_DEPRECATED math::Vector pos, vel, acc; |
39 |
|
|
|
40 |
|
|
TSID_DISABLE_WARNING_PUSH |
41 |
|
|
TSID_DISABLE_WARNING_DEPRECATED |
42 |
|
|
// getters / setters with updated names for math::Vector |
43 |
|
9015 |
const math::Vector& getValue() const { return pos; } |
44 |
|
10009 |
const math::Vector& getDerivative() const { return vel; } |
45 |
|
9009 |
const math::Vector& getSecondDerivative() const { return acc; } |
46 |
|
9 |
void setValue(const math::Vector& value) { pos = value; } |
47 |
|
1 |
void setDerivative(const math::Vector& derivative) { vel = derivative; } |
48 |
|
1 |
void setSecondDerivative(const math::Vector& second_derivative) { |
49 |
|
1 |
acc = second_derivative; |
50 |
|
1 |
} |
51 |
|
|
|
52 |
✓✗✓✗
✓✗ |
83 |
TrajectorySample(unsigned int size = 0) { resize(size); } |
53 |
|
|
|
54 |
✓✗✓✗
|
13 |
TrajectorySample(unsigned int size_value, unsigned int size_derivative) { |
55 |
✓✗ |
13 |
resize(size_value, size_derivative); |
56 |
|
13 |
} |
57 |
|
|
|
58 |
|
108 |
void resize(unsigned int size) { resize(size, size); } |
59 |
|
|
|
60 |
|
153 |
void resize(unsigned int size_value, unsigned int size_derivative) { |
61 |
|
153 |
pos.setZero(size_value); |
62 |
|
153 |
vel.setZero(size_derivative); |
63 |
|
153 |
acc.setZero(size_derivative); |
64 |
|
153 |
} |
65 |
|
|
|
66 |
|
|
// declare default constructors / destructors to disable the deprecation |
67 |
|
|
// message for them. TODO: Remove this after the |
68 |
|
|
// pos/vel/acc → value/derivative/second_derivative rename |
69 |
|
12135 |
~TrajectorySample() = default; |
70 |
✓✗✓✗
|
12014 |
TrajectorySample(const TrajectorySample&) = default; |
71 |
|
|
TSID_DISABLE_WARNING_POP |
72 |
|
|
}; |
73 |
|
|
|
74 |
|
|
class TrajectoryBase { |
75 |
|
|
public: |
76 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
77 |
|
|
|
78 |
|
|
TrajectoryBase(const std::string& name) : m_name(name) {} |
79 |
|
|
|
80 |
|
18 |
virtual ~TrajectoryBase() {} |
81 |
|
|
|
82 |
|
|
virtual unsigned int size() const = 0; |
83 |
|
|
|
84 |
|
|
virtual const TrajectorySample& operator()(double time) = 0; |
85 |
|
|
|
86 |
|
|
virtual const TrajectorySample& computeNext() = 0; |
87 |
|
|
|
88 |
|
|
virtual const TrajectorySample& getLastSample() const { return m_sample; } |
89 |
|
|
|
90 |
|
|
virtual void getLastSample(TrajectorySample& sample) const = 0; |
91 |
|
|
|
92 |
|
|
virtual bool has_trajectory_ended() const = 0; |
93 |
|
|
|
94 |
|
|
protected: |
95 |
|
|
std::string m_name; |
96 |
|
|
TrajectorySample m_sample; |
97 |
|
|
}; |
98 |
|
|
} // namespace trajectories |
99 |
|
|
} // namespace tsid |
100 |
|
|
|
101 |
|
|
#endif // ifndef __invdyn_trajectory_base_hpp__ |