JointsTrajectory.hpp

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#ifndef BASE_JOINTSTRAJECTORY_HPP
#define BASE_JOINTSTRAJECTORY_HPP

#include <vector>
#include <base/JointState.hpp>
#include <base/samples/Joints.hpp>
#include <base/NamedVector.hpp>
#include <base/Time.hpp>

namespace base {

typedef std::vector<JointState> JointTrajectory;

struct JointsTrajectory 
    : public NamedVector<JointTrajectory>
{
        struct InvalidTimeStep : public std::runtime_error
        {
            size_t time_step;
            InvalidTimeStep(size_t const& time_step)
                : std::runtime_error("trying to access time_step which is out of range."),
                  time_step(time_step) {}

            ~InvalidTimeStep() throw() {}
        };
        
    std::vector<base::Time> times;

    bool isValid() const;
    
    void resize(int num_joints, int num_samples);
    
    void resize(int num_joints);
    
    void getJointsAtTimeStep(size_t time_step, base::samples::Joints& joints);

    bool isTimed() const;

    size_t getTimeSteps() const;
    
    size_t getNumberOfJoints() const;
   
    base::Time getDuration() const;
}; 

}

#endif