Trajectory.h

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#pragma once
 
#include <map>
 
#include "Track.h"
 
namespace armarx::trajectory
{
 
    /**
     * @brief This class is used to update entities based on trajectory
     * defined by keyframes.
     *
     * A Trajectory is a collection of tracks, where each track represents a
     * timeline of a single value. A track is composed of keyframes, where
     * each keyframe represents a value at a specific time on the timeline.
     *
     * @see Track
     */
    class Trajectory
    {
    public:
        /// Constructor.
        Trajectory();
 
 
        /// Clear the trajectory of all tracks.
        void clear();
 
 
        /**
         * @brief Add track with the given ID (and no update function).
         * If there is already a track with the given ID, it is overwritten.
         */
        VariantTrack& addTrack(const TrackID& id);
 
        /**
         * @brief Add track with the given ID and update function.
         * If there is already a track with the given ID, it is overwritten.
         */
        VariantTrack& addTrack(const TrackID& id, const VariantTrack::UpdateFunc& updateFunc);
 
 
        /// Add a keyframe to the specified track.
        /// @throw `error::NoTrackWithID` if there is not track with the given ID
        void addKeyframe(const TrackID& id, const VariantKeyframe& keyframe);
 
        /// Add a keyframe to the specified track.
        /// @throw `error::NoTrackWithID` if there is not track with the given ID
        void addKeyframe(const TrackID& id, float time, const VariantValue& value);
 
 
        /**
         * @brief Update all tracks for the given time.
         * @param ignoreEmptyTracks If true, empty tracks are ignored.
         * @throws `error::EmptyTrack` If `ignoreEmptyTracks` is false and a track is empty.
         */
        void update(float time, bool ignoreEmptyTracks = false);
 
 
        /// Get the track with the given ID.
        /// @throw `error::NoTrackWithID` if there is not track with the given ID
        VariantTrack& operator[](const TrackID& id);
 
        /// Get the track with the given ID.
        /// @throw `error::NoTrackWithID` if there is not track with the given ID
        const VariantTrack& operator[](const TrackID& id) const;
 
        friend std::ostream& operator<<(std::ostream& os, const Trajectory& trajectory);
 
 
    private:
        /// The tracks.
        std::map<TrackID, VariantTrack> tracks;
    };
 
    std::ostream& operator<<(std::ostream& os, const Trajectory& trajectory);
 
    // UPDATE FUNCTION HELPERS
 
    /// Get an update function for value assignments.
    template <typename ValueT>
    VariantTrack::UpdateFunc
    updateValue(ValueT& v)
    {
        return [&v](VariantValue value) { v = std::get<ValueT>(value); };
    }
 
    /// Wrap the function in a Track::UpdateFunc.
    VariantTrack::UpdateFunc toUpdateFunc(std::function<void(float)> func);
    /// Wrap the function in a Track::UpdateFunc.
    VariantTrack::UpdateFunc toUpdateFunc(std::function<void(const Eigen::MatrixXf&)> func);
    /// Wrap the function in a Track::UpdateFunc.
    VariantTrack::UpdateFunc toUpdateFunc(std::function<void(const Eigen::Quaternionf&)> func);
 
} // namespace armarx::trajectory