passthroughmodel.hpp

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#ifndef _PHYSICAL_MODEL_PASSTHROUGH_MODEL_HPP_
#define _PHYSICAL_MODEL_PASSTHROUGH_MODEL_HPP_
 
#include "physicalmodel/physicalmodel.hpp"
 
namespace squiggles {
class PassthroughModel : public PhysicalModel {
  public:
  PassthroughModel() = default;
 
  Constraints constraints([[maybe_unused]] const Pose pose,
                          [[maybe_unused]] double curvature,
                          double vel) override {
    return Constraints(vel);
  };
 
  std::vector<double>
  linear_to_wheel_vels([[maybe_unused]] double lin_vel,
                       [[maybe_unused]] double curvature) override {
    return std::vector<double>{};
  }
 
  std::string to_string() const override {
    return "PassthroughModel {}";
  }
};
} // namespace squiggles
 
#endif