motion_path.hpp

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#pragma once
 
#include <Eigen/Core>
 
#include <movex/path/path.hpp>
#include <movex/waypoint.hpp>
 
 
namespace movex {
 
struct PathMotion {
    using Affine = affx::Affine;
 
    std::vector<Waypoint> waypoints;
 
    explicit PathMotion(const std::vector<Waypoint>& waypoints): waypoints(waypoints) { }
    explicit PathMotion(const std::vector<Affine>& waypoints, double blend_max_distance = 0.0) {
        this->waypoints.resize(waypoints.size());
        for (size_t i = 0; i < waypoints.size(); i += 1) {
            this->waypoints[i] = Waypoint(waypoints[i], std::nullopt, blend_max_distance);
        }
    }
};
 
 
struct LinearPathMotion: public PathMotion {
    explicit LinearPathMotion(const Affine& target): PathMotion({ Waypoint(target) }) { }
    explicit LinearPathMotion(const Affine& target, double elbow): PathMotion({ Waypoint(target, elbow) }) { }
};
 
 
struct LinearRelativePathMotion: public PathMotion {
    explicit LinearRelativePathMotion(const Affine& affine): PathMotion({ Waypoint(affine, Waypoint::ReferenceType::Relative) }) { }
    explicit LinearRelativePathMotion(const Affine& affine, double elbow): PathMotion({ Waypoint(affine, elbow, Waypoint::ReferenceType::Relative) }) { }
};
 
} // namespace movex