constraints.hpp

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#ifndef _SQUIGGLES_CONSTRAINTS_HPP_
#define _SQUIGGLES_CONSTRAINTS_HPP_
 
#include <cmath>
#include <string>
 
namespace squiggles {
struct Constraints {
  Constraints(double imax_vel,
              double imax_accel = std::numeric_limits<double>::max(),
              double imax_jerk = std::numeric_limits<double>::max(),
              double imax_curvature = 1000,
              double imin_accel = std::nan(""))
    : max_vel(imax_vel),
      max_accel(imax_accel),
      max_jerk(imax_jerk),
      max_curvature(imax_curvature) {
    if (imax_accel == std::numeric_limits<double>::max()) {
      min_accel = std::numeric_limits<double>::lowest();
    } else {
      min_accel = std::isnan(imin_accel) ? -imax_accel : imin_accel;
    }
  }
 
  std::string to_string() const {
    return "Constraints: {max_vel: " + std::to_string(max_vel) +
           ", max_accel: " + std::to_string(max_accel) +
           ", max_jerk: " + std::to_string(max_jerk) +
           ", min_accel: " + std::to_string(min_accel) + "}";
  }
 
  double max_vel;
  double max_accel;
  double max_jerk;
  double min_accel;
  double max_curvature;
};
} // namespace squiggles
#endif