FootSwingTrajectory.h

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#ifndef CHEETAH_SOFTWARE_FOOTSWINGTRAJECTORY_H
#define CHEETAH_SOFTWARE_FOOTSWINGTRAJECTORY_H

#include "cppTypes.h"

template<typename T>
class FootSwingTrajectory {
public:
  FootSwingTrajectory() {
    _p0.setZero();
    _pf.setZero();
    _p.setZero();
    _v.setZero();
    _a.setZero();
    _height = 0;
  }

  void setInitialPosition(Vec3<T> p0) {
    _p0 = p0;
  }

  void setFinalPosition(Vec3<T> pf) {
    _pf = pf;
  }

  void setHeight(T h) {
    _height = h;
  }

  void computeSwingTrajectoryBezier(T phase, T swingTime);

  Vec3<T> getPosition() {
    return _p;
  }

  Vec3<T> getVelocity() {
    return _v;
  }

  Vec3<T> getAcceleration() {
    return _a;
  }

private:
  Vec3<T> _p0, _pf, _p, _v, _a;
  T _height;
};


#endif //CHEETAH_SOFTWARE_FOOTSWINGTRAJECTORY_H