EFHOAW.hh

 
#ifndef GRAMODS_MISC_EFHOAW
#define GRAMODS_MISC_EFHOAW
 
#include <gmMisc/config.hh>
 
#ifdef gramods_ENABLE_Eigen3
 
#include <Eigen/Eigen>
 
#include <memory>
 
BEGIN_NAMESPACE_GMMISC
 
class EFHOAW {
 
public:
 
  typedef Eigen::Matrix<double, 3, Eigen::Dynamic> polco;
 
  EFHOAW();
 
  ~EFHOAW();
 
  void setHistoryLength(size_t N);
 
  size_t getHistoryLength() const;
 
  void setHistoryDuration(double t);
 
  double getHistoryDuration() const;
 
  double getLastSampleTime(size_t id);
 
  void addSample(size_t id, Eigen::Vector3d position, double time, bool replace = true);
 
  polco estimateCoefficients
  (size_t id, double error, size_t order = 2, size_t *samples = nullptr);
 
  Eigen::Vector3d getPolynomialPosition(int id, double t) const;
 
  Eigen::Vector3d getPolynomialVelocity(int id, double t) const;
 
  void cleanup(double time = -1);
 
private:
 
  struct Impl;
  std::unique_ptr<Impl> _impl;
 
};
 
END_NAMESPACE_GMMISC
 
#endif
#endif