poly_traj.h

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#ifndef MPL_POLY_TRAJ_H
#define MPL_POLY_TRAJ_H

#include <mpl_basis/primitive.h>

#include <deque>
#include <memory>

template <int Dim>
class PolyTraj {
 public:
  PolyTraj();
  void clear();
  void setWaypoints(const vec_E<Waypoint<Dim>>& ws);
  void setTime(const std::vector<decimal_t>& dts);
  void addCoeff(const MatDNf<Dim>& coeff);
  vec_E<Primitive<Dim>> toPrimitives() const;
  Waypoint<Dim> evaluate(decimal_t t) const;
  decimal_t getTotalTime() const;
  MatDNf<Dim> p();

 private:
  std::vector<decimal_t> waypoint_times_;
  std::vector<decimal_t> dts_;
  vec_E<Waypoint<Dim>> waypoints_;
  std::deque<MatDNf<Dim>, Eigen::aligned_allocator<MatDNf<Dim>>> coefficients_;
};

typedef PolyTraj<2> PolyTraj2D;

typedef PolyTraj<3> PolyTraj3D;
#endif