Interpolator.hpp

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#ifndef AIKIDO_STATESPACE_INTERPOLATOR_HPP_
#define AIKIDO_STATESPACE_INTERPOLATOR_HPP_
 
#include <memory>
 
#include "aikido/common/pointers.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace statespace {
 
AIKIDO_DECLARE_POINTERS(Interpolator)
 
class Interpolator
{
public:
  virtual ~Interpolator() = default;
 
  virtual statespace::ConstStateSpacePtr getStateSpace() const = 0;
 
  virtual std::size_t getNumDerivatives() const = 0;
 
  virtual void interpolate(
      const statespace::StateSpace::State* _from,
      const statespace::StateSpace::State* _to,
      double _alpha,
      statespace::StateSpace::State* _state) const = 0;
 
  virtual void getDerivative(
      const statespace::StateSpace::State* _from,
      const statespace::StateSpace::State* _to,
      std::size_t _derivative,
      double _alpha,
      Eigen::VectorXd& _tangentVector) const = 0;
};
 
} // namespace statespace
} // namespace aikido
 
#endif // ifndef AIKIDO_STATESPACE_INTERPOLATOR_HPP_