SpatialVelocityBuffer.h

/*
 * Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_SPATIALVELOCITYBUFFER_H
#define ROBOTSIO_SPATIALVELOCITYBUFFER_H
 
#include <Eigen/Dense>
 
#include <RobotsIO/Utils/SpatialVelocity.h>
 
namespace RobotsIO {
    namespace Utils {
        class SpatialVelocityBuffer;
    }
}
 
 
class RobotsIO::Utils::SpatialVelocityBuffer : public RobotsIO::Utils::SpatialVelocity
{
public:
    SpatialVelocityBuffer();
 
    virtual ~SpatialVelocityBuffer();
 
    bool freeze(const bool blocking) override;
 
    void set_twist(const Eigen::Vector3d& linear_velocity, const Eigen::Vector3d& angular_velocity, const double& elapsed_time = 0.0);
 
    double elapsed_time() override;
 
protected:
    Eigen::VectorXd twist() override;
 
    Eigen::VectorXd twist_;
 
    double elapsed_time_;
};
 
#endif /* ROBOTSIO_SPATIALVELOCITYBUFFER_H */