robLinearRn.h

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/*

  Author(s): Simon Leonard
  Created on: Nov 11 2009

  (C) Copyright 2008 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/
#ifndef _robLinearRn_h
#define _robLinearRn_h

#include <cisstRobot/robFunctionRn.h>
#include <cisstRobot/robExport.h>

class CISST_EXPORT robLinearRn : public robFunctionRn {
    
 private:

  vctDynamicVector<double> m;
  vctDynamicVector<double> b;  
  
  void ComputeParameters();

 public:
  

  robLinearRn( const vctFixedSizeVector<double,3>& y1, 
           const vctFixedSizeVector<double,3>& y2,
           double vmax,
           double t1 = 0.0 );
  

  robLinearRn( const vctDynamicVector<double>& y1, 
           const vctDynamicVector<double>& y2,
           const vctDynamicVector<double>& ydmax,
           double t1 = 0.0 );


  void Evaluate( double t, double& y, double& yd, double& ydd );
  

  void Evaluate( double t, 
         vctFixedSizeVector<double,3>& p,
         vctFixedSizeVector<double,3>& v,
         vctFixedSizeVector<double,3>& vd );
  


  void Evaluate( double t, 
         vctDynamicVector<double>& y,
         vctDynamicVector<double>& yd,
         vctDynamicVector<double>& ydd );
  
  void Blend( robFunction* function, 
          const vctDynamicVector<double>& qd, 
          const vctDynamicVector<double>& qdd );

  void Blend( robFunction* function, double vmax, double vdmax );


  vctDynamicVector<double> Slope() const;

};

#endif