TrajectoryGenerator.hpp

Go to the documentation of this file.

#ifndef ORG_EEROS_CONTROL_TRAJECTORYGENERATOR_HPP_
#define ORG_EEROS_CONTROL_TRAJECTORYGENERATOR_HPP_

#include <array>

namespace eeros {
    namespace control {
        
        template<typename T, int N = 1>
        class TrajectoryGenerator {
            
        public:
            TrajectoryGenerator() {
                for(auto& e : last) {
                    e = 0;
                }
            }
            
            virtual bool finished() = 0;
            
            virtual std::array<T, N> get(double dt) = 0;
            
            virtual bool push(std::array<T, N> start, std::array<T, N> end) = 0;
            
            virtual bool push(T end) {
                std::array<T, N> e;
                for(auto& i : e) i = 0;
                e[0] = end;
                return push(last, e);
            }
            
            virtual bool push(std::array<T, N> end) {
                return push(last, end);
            }
            
            virtual bool push(T start, T end) {
                std::array<T, N> s, e;
                for(auto& i : e) i = 0; for(auto& i : s) i = 0;
                s[0] = start; e[0] = end;
                return push(s, e);
            }
            
            virtual void reset(std::array<T, N> last) = 0;
            
        protected:
            std::array<T, N> last;
        };

    };
};

#endif /* ORG_EEROS_CONTROL_TRAJECTORYGENERATOR_HPP_ */