JointIntegrator.hpp

Go to the documentation of this file.

#ifndef JOINT_INTEGRATOR_HPP
#define JOINT_INTEGRATOR_HPP
 
#include "../types/JointState.hpp"
#include "../types/JointCommand.hpp"
 
enum IntegrationMethod{
    NONE = -1,
    RECTANGULAR = 0,
    TRAPEZOIDAL = 1
};
 
namespace wbc {

class JointIntegrator{
    bool initialized;
    types::JointCommand prev_cmd;
    types::JointState cur_joint_state;
public:
    JointIntegrator() : initialized(false){}
    void integrate(const types::JointState& joint_state, types::JointCommand &cmd, double cycle_time, types::CommandMode mode, IntegrationMethod method = RECTANGULAR, bool use_cur_state = false);
    void integrateRectangular(types::JointCommand &cmd, double cycle_time, types::CommandMode mode, bool use_cur_state = false);
    void integrateTrapezoidal(types::JointCommand &cmd, double cycle_time, types::CommandMode mode, bool use_cur_state = false);
    void reinit(){initialized = false;}
};
 
}
 
#endif