fsb_trajectory_types.h

#ifndef FSB_TRAJECTORY_TYPES_H
#define FSB_TRAJECTORY_TYPES_H
 
#include "fsb_types.h"
#include "fsb_motion.h"
 
namespace fsb
{
 
struct TrajState
{
    Real position;
    Real velocity;
    Real acceleration;
    Real jerk;
};
 
struct TrajState3
{
    Vec3 position;
    Vec3 velocity;
    Vec3 acceleration;
    Vec3 jerk;
};
 
class SegmentBase
{
public:
    virtual ~SegmentBase() = default;
 
    [[nodiscard]] virtual Real get_start_time() const = 0;
 
    [[nodiscard]] virtual Real get_duration() const = 0;
 
    [[nodiscard]] virtual Real get_final_time() const = 0;
};
 
class Segment : public SegmentBase
{
public:
    [[nodiscard]] virtual TrajState evaluate(Real t_eval) const = 0;
 
    [[nodiscard]] virtual TrajState get_final_state() const = 0;
};
 
class Segment3 : public SegmentBase
{
public:
    [[nodiscard]] virtual TrajState3 evaluate(Real t_eval) const = 0;
 
    [[nodiscard]] virtual TrajState3 get_final_state() const = 0;
};
 
class Segment6 : public SegmentBase
{
public:
    [[nodiscard]] virtual CartesianPva evaluate(Real t_eval) const = 0;
 
    [[nodiscard]] virtual CartesianPva get_final_state() const = 0;
};
 
} // namespace fsb
 
#endif