GeodesicInterpolator.hpp

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#ifndef AIKIDO_STATESPACE_GEODESICINTERPOLATOR_HPP_
#define AIKIDO_STATESPACE_GEODESICINTERPOLATOR_HPP_
#include "aikido/statespace/Interpolator.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace statespace {
 
class GeodesicInterpolator : public Interpolator
{
public:
  explicit GeodesicInterpolator(statespace::ConstStateSpacePtr _stateSpace);
 
  virtual ~GeodesicInterpolator() = default;
 
  // Documentation inherited.
  ConstStateSpacePtr getStateSpace() const override;
 
  // Documentation inherited.
  std::size_t getNumDerivatives() const override;
 
  Eigen::VectorXd getTangentVector(
      const statespace::StateSpace::State* _from,
      const statespace::StateSpace::State* _to) const;
 
  // Documentation inherited.
  void interpolate(
      const statespace::StateSpace::State* _from,
      const statespace::StateSpace::State* _to,
      double _alpha,
      statespace::StateSpace::State* _state) const override;
 
  // Documentation inherited.
  void getDerivative(
      const statespace::StateSpace::State* _from,
      const statespace::StateSpace::State* _to,
      std::size_t _derivative,
      double _alpha,
      Eigen::VectorXd& _tangentVector) const override;
 
private:
  statespace::ConstStateSpacePtr mStateSpace;
};
 
} // namespace statespace
} // namespace aikido
 
#endif // ifndef AIKIDO_STATESPACE_GEODESICINTERPOLATOR_HPP_