TrajectoryBase.h

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#ifndef TRAJECTORY_BASE_H
#define TRAJECTORY_BASE_H
 
#include <trajectory/Trajectory6DOFLimits.h>
#include <utils/Transforms.h>
 
#include <memory>
 
class TrajectoryBase {
public:
    virtual ~TrajectoryBase() = default;
 
    void start(double t);
 
    State get_model(double t, const State& curr_state);
 
    virtual bool is_finished(double t) const = 0;
 
    virtual double get_progress(double t) const = 0;
 
    virtual double get_expected_total_time() const = 0;
 
    geometry_msgs::msg::PoseArray get_visualization_msg(double t, double sample_hz = 20.0) const;
 
protected:
    std::shared_ptr<Trajectory6DOFLimits> vehicle_limits_;
 
    std::string world_frame_id_;
 
    bool started_ = false;
 
    double start_time_ = 0.0;
 
    double get_elapsed_time(double t) const;
 
    virtual State get_model_world(double t) const = 0;
 
private:
    static State convert_model_to_body_frame(const State& model_world, const State& curr_state);
};
 
#endif  // TRAJECTORY_BASE_H