SplinerBase.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

namespace ct {
namespace optcon {

template <class T, typename SCALAR = double>
class SplinerBase
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    SplinerBase() = default;

    virtual ~SplinerBase() = default;

    typedef T vector_t;
    typedef Eigen::Matrix<SCALAR, T::DIM, T::DIM> matrix_t;
    typedef std::vector<vector_t, Eigen::aligned_allocator<vector_t>> vector_array_t;


    virtual void computeSpline(const vector_array_t& points) = 0;

    virtual vector_t evalSpline(const SCALAR time, const size_t shotIdx) = 0;

    virtual vector_t splineDerivative_t(const SCALAR time, const size_t shotIdx) const = 0;

    virtual vector_t splineDerivative_h_i(const SCALAR time, const size_t shotIdx) const = 0;

    virtual matrix_t splineDerivative_q_i(const SCALAR time, const size_t shotIdx) const = 0;

    virtual matrix_t splineDerivative_q_iplus1(const SCALAR time, const size_t shotIdx) const = 0;
};

}  // namespace optcon
}  // namespace ct