trajectory-euclidian.hpp
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17 
18 #ifndef __invdyn_trajectory_euclidian_hpp__
19 #define __invdyn_trajectory_euclidian_hpp__
20 
22 
23 namespace tsid
24 {
25  namespace trajectories
26  {
27 
29  {
30  public:
31  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
32 
35 
36  TrajectoryEuclidianConstant(const std::string & name);
37 
38  TrajectoryEuclidianConstant(const std::string & name, ConstRefVector ref);
39 
40  unsigned int size() const;
41 
42  void setReference(ConstRefVector ref);
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  Vector m_ref;
54  };
55 
56  }
57 }
58 
59 #endif // ifndef __invdyn_trajectory_euclidian_hpp__
const TrajectorySample & operator()(double time)
Definition: trajectory-euclidian.cpp:47
Definition: trajectory-euclidian.hpp:28
Definition: trajectory-base.hpp:35
void setReference(ConstRefVector ref)
Definition: trajectory-euclidian.cpp:36
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
TrajectoryEuclidianConstant(const std::string &name)
Definition: trajectory-euclidian.cpp:25
Vector m_ref
Definition: trajectory-euclidian.hpp:53
bool has_trajectory_ended() const
Definition: trajectory-euclidian.cpp:62
math::ConstRefVector ConstRefVector
Definition: trajectory-euclidian.hpp:34
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector Vector
Definition: trajectory-euclidian.hpp:33
Definition: constraint-bound.hpp:26
virtual const TrajectorySample & getLastSample() const
Definition: trajectory-base.hpp:98
unsigned int size() const
Definition: trajectory-euclidian.cpp:42
const TrajectorySample & computeNext()
Definition: trajectory-euclidian.cpp:52
Definition: trajectory-base.hpp:84