controlvector.hpp

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#ifndef _GEOMETRY_CONTROL_VECTOR_HPP_
#define _GEOMETRY_CONTROL_VECTOR_HPP_
 
#include <cmath>
#include <string>
 
#include "pose.hpp"
 
namespace squiggles {
class ControlVector {
  public:
  ControlVector(Pose ipose,
                double ivel = std::nan(""),
                double iaccel = 0.0,
                double ijerk = 0.0)
    : pose(ipose), vel(ivel), accel(iaccel), jerk(ijerk) {}
 
  ControlVector() = default;
 
  std::string to_string() const {
    return "ControlVector: {" + pose.to_string() +
           ", v: " + std::to_string(vel) + ", a: " + std::to_string(accel) +
           ", j: " + std::to_string(jerk) + "}";
  }
 
  std::string to_csv() const {
    return pose.to_csv() + "," + std::to_string(vel) + "," +
           std::to_string(accel) + "," + std::to_string(jerk);
  }
 
  bool operator==(const ControlVector& other) const {
    return pose == other.pose && nearly_equal(vel, other.vel) &&
           nearly_equal(accel, other.accel) && nearly_equal(jerk, other.jerk);
  }
 
  Pose pose;
  double vel;
  double accel;
  double jerk;
};
} // namespace squiggles
 
#endif