Program Listing for File position_spline.hpp
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#ifndef BITBOTS_SPLINES_INCLUDE_BITBOTS_SPLINES_POSITION_SPLINE_H_
#define BITBOTS_SPLINES_INCLUDE_BITBOTS_SPLINES_POSITION_SPLINE_H_
#include <tf2/LinearMath/Vector3.h>
#include <bitbots_splines/smooth_spline.hpp>
#include <bitbots_splines/spline_container.hpp>
#include <geometry_msgs/msg/point.hpp>
namespace bitbots_splines {
class PositionSpline {
public:
geometry_msgs::msg::Point getGeometryMsgPosition(double time);
tf2::Vector3 getPos(double time);
tf2::Vector3 getVel(double time);
tf2::Vector3 getAcc(double time);
SmoothSpline *x();
SmoothSpline *y();
SmoothSpline *z();
private:
SmoothSpline x_;
SmoothSpline y_;
SmoothSpline z_;
};
} // namespace bitbots_splines
#endif // BITBOTS_SPLINES_INCLUDE_BITBOTS_SPLINES_POSITION_SPLINE_H_