fsb_trajectory_segment.h

#ifndef FSB_TRAJECTORY_SEGMENT_H
#define FSB_TRAJECTORY_SEGMENT_H
 
#include "fsb_trajectory_types.h"
#include "fsb_types.h"
 
namespace fsb
{
 
class SegmentConstJerk final : public SegmentScalar
{
public:
    SegmentConstJerk() = default;
 
    void generate(Real start_time, Real duration, const TrajState& initial_state, Real jerk);
 
    [[nodiscard]] TrajState evaluate(Real t_eval) const override final;
 
    [[nodiscard]] TrajState get_final_state() const override final
    {
        return evaluate(m_start_time + m_duration);
    }
 
    [[nodiscard]] TrajState get_initial_state() const override final
    {
        return evaluate(m_start_time);
    }
 
    [[nodiscard]] Real get_start_time() const override final
    {
        return m_start_time;
    }
 
    [[nodiscard]] Real get_duration() const override final
    {
        return m_duration;
    }
 
    [[nodiscard]] Real get_final_time() const override final
    {
        return m_start_time + m_duration;
    }
 
private:
    Real m_initial_position = 0.0; 
    Real m_initial_velocity = 0.0; 
    Real m_initial_acceleration = 0.0; 
    Real m_jerk = 0.0; 
    Real m_start_time = 0.0; 
    Real m_duration = 0.0; 
};
 
class SegmentConstAcc final : public SegmentScalar
{
public:
    SegmentConstAcc() = default;
 
    void
    generate(Real start_time, Real duration, const TrajState& initial_state, Real acceleration);
 
    [[nodiscard]] TrajState evaluate(Real t_eval) const override final;
 
    [[nodiscard]] TrajState get_final_state() const override final
    {
        return evaluate(m_start_time + m_duration);
    }
 
    [[nodiscard]] TrajState get_initial_state() const override final
    {
        return evaluate(m_start_time);
    }
 
    [[nodiscard]] Real get_start_time() const override final
    {
        return m_start_time;
    }
 
    [[nodiscard]] Real get_duration() const override final
    {
        return m_duration;
    }
 
    [[nodiscard]] Real get_final_time() const override final
    {
        return m_start_time + m_duration;
    }
 
private:
    Real m_initial_position = 0.0; 
    Real m_initial_velocity = 0.0; 
    Real m_acceleration = 0.0; 
    Real m_start_time = 0.0; 
    Real m_duration = 0.0; 
};
 
class SegmentConstVel final : public SegmentScalar
{
public:
    SegmentConstVel() = default;
 
    void generate(Real start_time, Real duration, const TrajState& initial_state, Real velocity);
 
    [[nodiscard]] TrajState evaluate(Real t_eval) const override final;
 
    [[nodiscard]] TrajState get_final_state() const override final
    {
        return evaluate(m_start_time + m_duration);
    }
 
    [[nodiscard]] TrajState get_initial_state() const override final
    {
        return evaluate(m_start_time);
    }
 
    [[nodiscard]] Real get_start_time() const override final
    {
        return m_start_time;
    }
 
    [[nodiscard]] Real get_duration() const override final
    {
        return m_duration;
    }
 
    [[nodiscard]] Real get_final_time() const override final
    {
        return m_start_time + m_duration;
    }
 
private:
    Real m_initial_position = 0.0; 
    Real m_velocity = 0.0; 
    Real m_start_time = 0.0; 
    Real m_duration = 0.0; 
};
 
} // namespace fsb
 
#endif