util.hpp

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#ifndef AIKIDO_TRAJECTORY_UTIL_HPP_
#define AIKIDO_TRAJECTORY_UTIL_HPP_
 
#include "aikido/trajectory/Interpolated.hpp"
#include "aikido/trajectory/Spline.hpp"
 
namespace aikido {
namespace trajectory {
 
UniqueSplinePtr convertToSpline(const Interpolated& inputTrajectory);
 
UniqueInterpolatedPtr concatenate(
    const Interpolated& traj1, const Interpolated& traj2);
 
double findTimeOfClosestStateOnTrajectory(
    const Trajectory& traj,
    const statespace::StateSpace::State* referenceState,
    double& distance,
    double timeStep = 0.01);
 
UniqueSplinePtr createPartialTrajectory(
    const Spline& traj, double partialStartTime);
 
UniqueInterpolatedPtr toR1JointTrajectory(const Interpolated& trajectory);
 
} // namespace trajectory
} // namespace aikido
 
#endif // AIKIDO_TRAJECTORY_UTIL_HPP_