opspace/include/opspace/TypeIOTGCursor.hpp

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/*
 * Copyright (C) 2011 The Board of Trustees of The Leland Stanford Junior University. All rights reserved.
 *
 * Author: Roland Philippsen
 *         http://cs.stanford.edu/group/manips/
 *
 * This program is free software: you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this program.  If not, see
 * <http://www.gnu.org/licenses/>
 */

#ifndef OPSPACE_TYPE_I_OTG_CURSOR_HPP
#define OPSPACE_TYPE_I_OTG_CURSOR_HPP

#include <jspace/wrap_eigen.hpp>
#include <reflexxes_otg/TypeIOTG.h>

namespace opspace {
  
  using jspace::Vector;

  char const * otg_errstr(int otg_error_code);
  
  
  class TypeIOTGCursor
  {
  public:
    size_t const ndof_;
    double const dt_seconds_;
    
    TypeIOTGCursor(size_t ndof,
       double dt_seconds);
    
    int next(Vector const & maxvel,
       Vector const & maxacc,
       Vector const & goal);

    int next(double maxvel,
       double maxacc,
       double goal);
    
    inline Vector & position()             { return pos_clean_; }
    inline Vector const & position() const { return pos_clean_; }
    inline Vector & velocity()             { return vel_clean_; }
    inline Vector const & velocity() const { return vel_clean_; }
    
  protected:
    typedef Eigen::Matrix<bool, Eigen::Dynamic, 1> boolvec_t;
    
    TypeIOTG otg_;
    boolvec_t selection_;
    Vector pos_clean_;
    Vector vel_clean_;
    Vector pos_dirty_;
    Vector vel_dirty_;
  };
  
}

#endif // OPSPACE_TYPE_I_OTG_CURSOR_HPP

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