InterpolatingEuclideanPlanner.hpp

#ifndef KINEMATICS_INTERPOLATINGEUCLIDEANPLANNER_HPP
#define KINEMATICS_INTERPOLATINGEUCLIDEANPLANNER_HPP

#include "Planner.hpp"
#include <Kinematics/Matrix.hpp>

namespace HLR
{
namespace Kinematics
{
namespace Planners
{
class InterpolatingEuclideanPlanner : public Planner
{
public:
    ~InterpolatingEuclideanPlanner() override = default;

    InterpolatingEuclideanPlanner(const InterpolatingEuclideanPlanner& p) =
        delete;

    InterpolatingEuclideanPlanner(InterpolatingEuclideanPlanner&& p) = delete;

    InterpolatingEuclideanPlanner& operator=(
        const InterpolatingEuclideanPlanner& p) = delete;

    InterpolatingEuclideanPlanner& operator=(
        InterpolatingEuclideanPlanner&& p) = delete;

    InterpolatingEuclideanPlanner(double step_size);

    const std::optional<std::vector<Matrix<double, 5, 1>>> get_path(
        const Matrix<double, 5, 1>& current_state,
        const Matrix<double, 3, 1>& target_pos) const override;

private:
    double step_size;
};
}
}
}

#endif