PotentialField.hpp

Go to the documentation of this file.

#pragma once
 
#include <base/Eigen.hpp>
#include <base/Time.hpp>
#include <stdexcept>
#include <memory>
 
namespace wbc{
 
class PotentialField{
public:
    PotentialField(const uint _dimension, const std::string& _name = "unset")
        : dimension(_dimension),
          name(_name){
        if(dimension == 0)
            throw std::invalid_argument("PotentialField:PotentialField: Dimension of Potential Field has to be > 0");
 
        influence_distance = std::numeric_limits<double>::infinity(); //Initialize with inifinite maximum influence distance
        distance.setConstant(dimension, std::numeric_limits<double>::quiet_NaN());
        gradient.setConstant(dimension, std::numeric_limits<double>::quiet_NaN());
        pot_field_center.setConstant(dimension, std::numeric_limits<double>::quiet_NaN());
    }
 
    virtual ~PotentialField(){}
 
    virtual const base::VectorXd& update(const base::VectorXd &position) = 0;
 
    base::Time time;
 
    uint dimension;
 
    double influence_distance;
 
    base::VectorXd distance;
 
    base::VectorXd pot_field_center;
 
    base::VectorXd gradient;
 
    const std::string name;
};
 
typedef std::shared_ptr<PotentialField> PotentialFieldPtr;
 
}