trajectory-se3.hpp
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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
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10 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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15 // <http://www.gnu.org/licenses/>.
16 //
17 
18 #ifndef __invdyn_trajectory_se3_hpp__
19 #define __invdyn_trajectory_se3_hpp__
20 
22 
23 #include <pinocchio/spatial/se3.hpp>
24 
25 namespace tsid
26 {
27  namespace trajectories
28  {
29 
31  {
32  public:
33  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
34 
36 
37  TrajectorySE3Constant(const std::string & name);
38 
39  TrajectorySE3Constant(const std::string & name, const SE3 & M);
40 
41  unsigned int size() const;
42 
43  void setReference(const SE3 & M);
44 
45  const TrajectorySample & operator()(double time);
46 
47  const TrajectorySample & computeNext();
48 
49  void getLastSample(TrajectorySample & sample) const;
50 
51  bool has_trajectory_ended() const;
52 
53 
54  protected:
56  };
57 
58  }
59 }
60 
61 #endif // ifndef __invdyn_trajectory_se3_hpp__
tsid::trajectories::TrajectorySample
Definition: trajectory-base.hpp:35
tsid::trajectories::TrajectorySE3Constant::SE3
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::SE3 SE3
Definition: trajectory-se3.hpp:35
tsid::trajectories::TrajectorySE3Constant::has_trajectory_ended
bool has_trajectory_ended() const
Definition: trajectory-se3.cpp:74
tsid::python::SE3
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
tsid::trajectories::TrajectoryBase
Definition: trajectory-base.hpp:84
trajectory-base.hpp
tsid::trajectories::TrajectorySE3Constant::computeNext
const TrajectorySample & computeNext()
Definition: trajectory-se3.cpp:64
tsid::trajectories::TrajectorySE3Constant::size
unsigned int size() const
Definition: trajectory-se3.cpp:45
tsid
Definition: constraint-bound.hpp:26
tsid::trajectories::TrajectorySE3Constant::m_M
SE3 m_M
Definition: trajectory-se3.hpp:55
tsid::trajectories::TrajectorySE3Constant::setReference
void setReference(const SE3 &M)
Definition: trajectory-se3.cpp:50
tsid::trajectories::TrajectoryBase::getLastSample
virtual const TrajectorySample & getLastSample() const
Definition: trajectory-base.hpp:98
tsid::trajectories::TrajectorySE3Constant::TrajectorySE3Constant
TrajectorySE3Constant(const std::string &name)
Definition: trajectory-se3.cpp:28
tsid::trajectories::TrajectorySE3Constant::operator()
const TrajectorySample & operator()(double time)
Definition: trajectory-se3.cpp:59
tsid::trajectories::TrajectorySE3Constant
Definition: trajectory-se3.hpp:30