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;
};
 
template <typename TrajStateType>
class Segment
{
public:
    virtual ~Segment() = default;
 
    [[nodiscard]] virtual Real get_start_time() const = 0;
 
    [[nodiscard]] virtual Real get_duration() const = 0;
 
    [[nodiscard]] virtual Real get_final_time() const = 0;
 
    [[nodiscard]] virtual TrajStateType evaluate(Real t_eval) const = 0;
 
    [[nodiscard]] virtual TrajStateType get_final_state() const = 0;
 
    [[nodiscard]] virtual TrajStateType get_initial_state() const = 0;
};
 
using SegmentScalar = Segment<TrajState>;
using Segment3 = Segment<TrajState3>;
using SegmentCartesian = Segment<CartesianPva>;
 
} // namespace fsb
 
#endif