| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2017 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_se3_hpp__ |
| 19 |
|
|
#define __invdyn_trajectory_se3_hpp__ |
| 20 |
|
|
|
| 21 |
|
|
#include <tsid/trajectories/trajectory-base.hpp> |
| 22 |
|
|
|
| 23 |
|
|
#include <pinocchio/spatial/se3.hpp> |
| 24 |
|
|
|
| 25 |
|
|
namespace tsid { |
| 26 |
|
|
namespace trajectories { |
| 27 |
|
|
|
| 28 |
|
|
class TrajectorySE3Constant : public TrajectoryBase { |
| 29 |
|
|
public: |
| 30 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 31 |
|
|
|
| 32 |
|
|
typedef pinocchio::SE3 SE3; |
| 33 |
|
|
|
| 34 |
|
|
TrajectorySE3Constant(const std::string& name); |
| 35 |
|
|
|
| 36 |
|
|
TrajectorySE3Constant(const std::string& name, const SE3& M); |
| 37 |
|
|
|
| 38 |
|
4 |
virtual ~TrajectorySE3Constant() {} |
| 39 |
|
|
|
| 40 |
|
|
unsigned int size() const; |
| 41 |
|
|
|
| 42 |
|
|
void setReference(const SE3& M); |
| 43 |
|
|
|
| 44 |
|
|
const TrajectorySample& operator()(double time); |
| 45 |
|
|
|
| 46 |
|
|
const TrajectorySample& computeNext(); |
| 47 |
|
|
|
| 48 |
|
|
void getLastSample(TrajectorySample& sample) const; |
| 49 |
|
|
|
| 50 |
|
|
bool has_trajectory_ended() const; |
| 51 |
|
|
|
| 52 |
|
|
protected: |
| 53 |
|
|
SE3 m_M; |
| 54 |
|
|
}; |
| 55 |
|
|
|
| 56 |
|
|
} // namespace trajectories |
| 57 |
|
|
} // namespace tsid |
| 58 |
|
|
|
| 59 |
|
|
#endif // ifndef __invdyn_trajectory_se3_hpp__ |
| 60 |
|
|
|