/usr/include/fcl/ccd/interpolation/interpolation.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
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*
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* with the distribution.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/** \author Dalibor Matura, Jia Pan */
#ifndef FCL_CCD_INTERPOLATION_INTERPOLATION_H
#define FCL_CCD_INTERPOLATION_INTERPOLATION_H
#include "fcl/data_types.h"
namespace fcl
{
enum InterpolationType
{
LINEAR,
STANDARD
};
class Interpolation
{
public:
Interpolation();
virtual ~Interpolation() {}
Interpolation(FCL_REAL start_value, FCL_REAL end_value);
void setStartValue(FCL_REAL start_value);
void setEndValue(FCL_REAL end_value);
virtual FCL_REAL getValue(FCL_REAL time) const = 0;
/// @brief return the smallest value in time interval [0, 1]
virtual FCL_REAL getValueLowerBound() const = 0;
/// @brief return the biggest value in time interval [0, 1]
virtual FCL_REAL getValueUpperBound() const = 0;
virtual InterpolationType getType() const = 0;
bool operator == (const Interpolation& interpolation) const;
bool operator != (const Interpolation& interpolation) const;
virtual FCL_REAL getMovementLengthBound(FCL_REAL time) const = 0;
virtual FCL_REAL getVelocityBound(FCL_REAL time) const = 0;
protected:
FCL_REAL value_0_; // value at time = 0.0
FCL_REAL value_1_; // value at time = 1.0
};
}
#endif
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