trajectory.h

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#ifndef EXOTICA_CORE_TRAJECTORY_H_
#define EXOTICA_CORE_TRAJECTORY_H_
 
#include <exotica_core/tools/conversions.h>
#include <Eigen/Dense>
#include <kdl/trajectory_composite.hpp>
#include <memory>
 
namespace exotica
{
class Trajectory
{
public:
    Trajectory();
    Trajectory(const std::string& data);
    Trajectory(Eigen::MatrixXdRefConst data, double radius = 1.0);
    ~Trajectory() {}
    KDL::Frame GetPosition(double t);
    KDL::Twist GetVelocity(double t);
    KDL::Twist GetAcceleration(double t);
    double GetDuration();
    Eigen::MatrixXd GetData();
    double GetRadius();
    std::string ToString();
 
protected:
    void ConstructFromData(Eigen::MatrixXdRefConst data, double radius);
    double radius_;
    Eigen::MatrixXd data_;
    std::shared_ptr<KDL::Trajectory_Composite> trajectory_;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TRAJECTORY_H_