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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include <tsid/trajectories/trajectory-euclidian.hpp> |
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namespace tsid { |
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namespace trajectories { |
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TrajectoryEuclidianConstant::TrajectoryEuclidianConstant( |
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const std::string& name) |
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: TrajectoryBase(name) {} |
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TrajectoryEuclidianConstant::TrajectoryEuclidianConstant( |
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const std::string& name, ConstRefVector ref) |
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: TrajectoryBase(name) { |
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setReference(ref); |
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} |
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void TrajectoryEuclidianConstant::setReference(ConstRefVector ref) { |
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m_sample.resize((unsigned int)ref.size()); |
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m_sample.setValue(ref); |
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} |
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unsigned int TrajectoryEuclidianConstant::size() const { |
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return (unsigned int)m_sample.getValue().size(); |
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} |
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const TrajectorySample& TrajectoryEuclidianConstant::operator()(double) { |
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return m_sample; |
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} |
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const TrajectorySample& TrajectoryEuclidianConstant::computeNext() { |
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return m_sample; |
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} |
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void TrajectoryEuclidianConstant::getLastSample( |
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TrajectorySample& sample) const { |
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sample = m_sample; |
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} |
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bool TrajectoryEuclidianConstant::has_trajectory_ended() const { return true; } |
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} // namespace trajectories |
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} // namespace tsid |
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