path.hpp

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#pragma once
 
#include <Eigen/Core>
 
namespace franky {
 
template<size_t state_dimensions>
struct PathStep {
  const Eigen::Vector<double, state_dimensions> q;
  const Eigen::Vector<double, state_dimensions> dq;
  const Eigen::Vector<double, state_dimensions> ddq;
  const Eigen::Vector<double, state_dimensions> dddq;
};
 
template<size_t state_dimensions>
class Path {
  using Vector = Eigen::Matrix<double, state_dimensions, 1>;
 public:
  [[nodiscard]] virtual double length() const = 0;
 
  virtual Vector max_ddq() const = 0;
 
  virtual Vector max_dddq() const = 0;
 
  virtual PathStep<state_dimensions> operator()(double s) const = 0;
};
 
}  // namespace franky