DesignerTrajectoryCalculator.h

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#ifndef DESIGNERTRAJECTORYCALCULATOR_H
#define DESIGNERTRAJECTORYCALCULATOR_H
 
#include <Eigen/Core>
 
#include <VirtualRobot/Robot.h>
 
#include "../Environment.h"
#include "TimedTrajectory.h"
 
namespace armarx
{
    class DesignerTrajectoryCalculator;
 
    /**
     * @class DesignerTrajectoryCalculator
     * @brief Offers functionality to create TimedTrajectories from supplied Trajectories and points set by the user.
    */
    class DesignerTrajectoryCalculator
    {
    private:
        EnvironmentPtr environment;
 
    public:
        //TimedTrajectory calculateTimeOptimalTrajectory(std::vector<Eigen::VectorXf>& trajectory, std::vector<Eigen::VectorXf>& userPoints, double maxDeviation);
        /*
         * HOW TO CONVERT vector<vector<double>> to vector<Eigen::VectorXf>
         *
               // convert ikSolutions from vector<vector<double>> to vector<Eigen::VectorXf>
                std::vector<Eigen::VectorXf> ikSolutionsEigen;
                for (std::vector<double> ikSolution : ikSolutions)
                {
                    std::vector<float> ikSolutionFloat(ikSolution.begin(), ikSolution.end());
                    ikSolutionsEigen.push_back(
                    Eigen::VectorXf::Map(ikSolutionFloat.data(), ikSolutionFloat.size()));
                }
         *
         */
 
        DesignerTrajectoryCalculator(EnvironmentPtr environment);
        /**
         * @brief Calculates a TimedTrajectory from the supplied trajectory and points set by user.
         * @param trajectory A vector of floats representing the trajectory.
         * @param userPoints The set of points defined by the user.
         * @param rns The RobotNodeSet used by the trajectory.
         * @param maxDeviation The maximum deviation of the points along the trajectory.
         * @param accuracyFactor The factor with which to scale the accuracy of the time optimal trajectory.
         * @return The created TimedTrajectory.
         */
        TimedTrajectory calculateTimeOptimalTrajectory(std::vector<std::vector<double>>& trajectory,
                                                       std::vector<std::vector<double>>& userPoints,
                                                       VirtualRobot::RobotNodeSetPtr rns,
                                                       double maxDeviation,
                                                       double accuracyFactor = 1.0);
    };
} // namespace armarx
#endif // DESIGNERTRAJECTORYCALCULATOR_H