11 using namespace Eigen;
14 namespace trajectory {
24 std::vector<HebiTrajectoryPtr> trajectories_;
29 const size_t number_of_joints_;
34 const size_t number_of_waypoints_;
39 const double start_time_;
44 const double end_time_;
49 Trajectory(std::vector<HebiTrajectoryPtr> trajectories,
size_t number_of_waypoints,
double start_time,
81 static std::shared_ptr<Trajectory> createUnconstrainedQp(
const VectorXd& time_vector,
const MatrixXd& positions,
82 const MatrixXd* velocities =
nullptr,
83 const MatrixXd* accelerations =
nullptr);
115 double getDuration()
const;
130 bool getState(
double time, VectorXd* position, VectorXd* velocity, VectorXd* acceleration)
const;
size_t getJointCount() const
The number of independent position trajectories over the same time domain that are managed by this ob...
Definition: trajectory.hpp:94
double getStartTime() const
Get the time (in seconds) at which the defined trajectory begins.
Definition: trajectory.hpp:104
#define HEBI_DISABLE_COPY_MOVE(Class)
Definition: util.hpp:6
size_t getWaypointCount() const
The number of fixed waypoints that each joint is moving through.
Definition: trajectory.hpp:99
double getEndTime() const
Get the time (in seconds) at which the defined trajectory ends.
Definition: trajectory.hpp:109
Represents a smooth trajectory through a set of waypoints.
Definition: trajectory.hpp:19