poly_solver.h

Go to the documentation of this file.

#ifndef MPL_POLY_SOLVER_H
#define MPL_POLY_SOLVER_H

#include <mpl_traj_solver/poly_traj.h>

#include <Eigen/Core>
#include <Eigen/LU>
#include <Eigen/StdVector>

template <int Dim>
class PolySolver {
 public:
  PolySolver(unsigned int smooth_derivative_order,
             unsigned int minimize_derivative, bool debug = false);
  bool solve(const vec_E<Waypoint<Dim>>& waypoints,
             const std::vector<decimal_t>& dts);

  std::shared_ptr<PolyTraj<Dim>> getTrajectory();

 protected:
  unsigned int N_;
  unsigned int R_;
  MatDf A_;
  MatDf Q_;
  bool debug_;
  std::shared_ptr<PolyTraj<Dim>> ptraj_;
};

typedef PolySolver<2> PolySolver2D;

typedef PolySolver<3> PolySolver3D;
#endif