trajectory_generation.hpp

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#ifndef MODERN_ROBOTICS__TRAJECTORY_GENERATION_HPP___
#define MODERN_ROBOTICS__TRAJECTORY_GENERATION_HPP___
 
#include <armadillo>
#include <vector>
 
namespace mr
{
 
enum class Method : uint8_t
{
  Cubic, 
  Quintic 
};
 
double CubicTimeScaling(const double Tf, const double t);
 
double QuinticTimeScaling(const double Tf, const double t);
 
const std::vector<arma::vec> JointTrajectory(
  const arma::vec & thetastart,
  const arma::vec & thetaend,
  const double Tf,
  const size_t N,
  const Method & method
);
 
const std::vector<arma::mat44> ScrewTrajectory(
  const arma::mat44 & Xstart,
  const arma::mat44 & Xend,
  const double Tf,
  const size_t N,
  const Method & method
);
 
const std::vector<arma::mat44> CartesianTrajectory(
  const arma::mat44 & Xstart,
  const arma::mat44 & Xend,
  const double Tf,
  const size_t N,
  const Method & method
);
}
 
#endif