Trajectory.hpp

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#ifndef AIKIDO_TRAJECTORY_TRAJECTORY_HPP_
#define AIKIDO_TRAJECTORY_TRAJECTORY_HPP_
 
#include <Eigen/Core>
 
#include "aikido/common/pointers.hpp"
#include "aikido/statespace/StateSpace.hpp"
#include "aikido/trajectory/TrajectoryMetadata.hpp"
 
namespace aikido {
namespace trajectory {
 
AIKIDO_DECLARE_POINTERS(Trajectory)
 
class Trajectory
{
public:
  virtual ~Trajectory() = default;
 
  virtual statespace::ConstStateSpacePtr getStateSpace() const = 0;
 
  virtual std::size_t getNumDerivatives() const = 0;
 
  virtual double getDuration() const = 0;
 
  virtual double getStartTime() const = 0;
 
  virtual double getEndTime() const = 0;
 
  virtual void evaluate(
      double _t, statespace::StateSpace::State* _state) const = 0;
 
  virtual void evaluateDerivative(
      double _t, int _derivative, Eigen::VectorXd& _tangentVector) const = 0;
 
  // TODO: Is metadata required anymore? Delete if not.
  TrajectoryMetadata metadata;
};
 
} // namespace trajectory
} // namespace aikido
 
#endif // ifndef AIKIDO_TRAJECTORY_TRAJECTORY_HPP_