Spline.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
#include <mc_trajectory/api.h>
 
#include <vector>
 
namespace mc_trajectory
{
 
template<typename T, typename WaypointsT>
struct Spline
{
public:
  Spline(double duration, const T & start, const T & target, const WaypointsT & waypoints = {});
 
  void waypoints(const WaypointsT & waypoints);
  const WaypointsT & waypoints() const;
 
  void start(const T & start);
  const T & start() const;
 
  void target(const T & target);
  const T & target() const;
 
  void samplingPoints(unsigned s);
 
  unsigned samplingPoints() const;
 
  virtual void update() = 0;
 
protected:
  double duration_;
  T start_;
  T target_;
  WaypointsT waypoints_;
  unsigned samplingPoints_ = 10;
  std::vector<T> samples_;
  bool needsUpdate_ = false;
};
 
} // namespace mc_trajectory
 
#include <mc_trajectory/Spline.hpp>