InterpolatedRotation.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/StateBuilder.h>
#include <mc_trajectory/Spline.h>
#include <mc_trajectory/api.h>
 
#include <Eigen/Geometry>
#include <utility>
#include <vector>
 
namespace mc_trajectory
{
 
struct MC_TRAJECTORY_DLLAPI InterpolatedRotation
: Spline<Eigen::Matrix3d, std::vector<std::pair<double, Eigen::Matrix3d>>>
{
  using waypoint_t = std::pair<double, Eigen::Matrix3d>;
 
public:
  InterpolatedRotation(double duration,
                       const Eigen::Matrix3d & start,
                       const Eigen::Matrix3d & target,
                       const std::vector<waypoint_t> & waypoints = {});
 
  void update() override;
 
  Eigen::Matrix3d eval(double t);
 
  void waypoint(size_t idx, const Eigen::Matrix3d & ori);
  const waypoint_t & waypoint(size_t idx) const;
 
protected:
  std::vector<waypoint_t> all_waypoints_;
};
 
} // namespace mc_trajectory