relative_dynamics_factor.hpp

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#pragma once
 
#include <string>
 
namespace franky {
 
class RelativeDynamicsFactor {
 public:
  RelativeDynamicsFactor();
 
  // Suppress implicit conversion warning
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wimplicit-conversion"
  RelativeDynamicsFactor(double value);
#pragma clang diagnostic pop
 
  RelativeDynamicsFactor(double velocity, double acceleration, double jerk);
 
  static inline RelativeDynamicsFactor MAX_DYNAMICS() {
    return {1.0, 1.0, 1.0, true};
  }
 
  [[nodiscard]] inline double velocity() const {
    return velocity_;
  }
 
  [[nodiscard]] inline double acceleration() const {
    return acceleration_;
  }
 
  [[nodiscard]] inline double jerk() const {
    return jerk_;
  }
 
  [[nodiscard]] inline bool max_dynamics() const {
    return max_dynamics_;
  }
 
  RelativeDynamicsFactor operator*(const RelativeDynamicsFactor &other) const;
 
 private:
  static double checkInBounds(double value, const std::string &name);
 
  RelativeDynamicsFactor(double velocity, double acceleration, double jerk, bool max_dynamics);
 
  double velocity_, acceleration_, jerk_;
  bool max_dynamics_;
};
 
}  // namespace franky