//

// Copyright (c) 2017 CNRS

//

// This file is part of tsid

// tsid is free software: you can redistribute it

// and/or modify it under the terms of the GNU Lesser General Public

// License as published by the Free Software Foundation, either version

// 3 of the License, or (at your option) any later version.

// tsid is distributed in the hope that it will be

// useful, but WITHOUT ANY WARRANTY; without even the implied warranty

// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

// General Lesser Public License for more details. You should have

// received a copy of the GNU Lesser General Public License along with

// tsid If not, see

// <http://www.gnu.org/licenses/>.

//

#ifndef __invdyn_trajectory_se3_hpp__

#define __invdyn_trajectory_se3_hpp__

#include <tsid/trajectories/trajectory-base.hpp>

#include <pinocchio/spatial/se3.hpp>

namespace tsid {

namespace trajectories {

class TrajectorySE3Constant : public TrajectoryBase {

 public:

  typedef pinocchio::SE3 SE3;

  TrajectorySE3Constant(const std::string& name);

  TrajectorySE3Constant(const std::string& name, const SE3& M);

  unsigned int size() const;

  void setReference(const SE3& M);

  const TrajectorySample& operator()(double time);

  const TrajectorySample& computeNext();

  void getLastSample(TrajectorySample& sample) const;

  bool has_trajectory_ended() const;

 protected:

  SE3 m_M;

};

}  // namespace trajectories

}  // namespace tsid

#endif  // ifndef __invdyn_trajectory_se3_hpp__