periodic_com_ref.hpp

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#ifndef ROBOTOC_PERIODIC_COM_REF_HPP_
#define ROBOTOC_PERIODIC_COM_REF_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/cost/com_ref_base.hpp"
 
 
namespace robotoc {
 
class PeriodicCoMRef : public CoMRefBase {
public:
  PeriodicCoMRef(const Eigen::Vector3d com_ref0, const Eigen::Vector3d vcom_ref, 
                 const double t0, const double period_active, 
                 const double period_inactive, const bool is_first_move_half);
 
  ~PeriodicCoMRef();
 
  void setCoMRef(const Eigen::Vector3d com_ref0, const Eigen::Vector3d vcom_ref, 
                 const double t0, const double period_active, 
                 const double period_inactive, const bool is_first_move_half);
 
  void updateRef(const GridInfo& grid_info, Eigen::VectorXd& com_ref) const override;
 
  bool isActive(const GridInfo& grid_info) const override;
 
private:
  Eigen::Vector3d com_ref0_, vcom_ref_;
  double step_length_, t0_, period_active_, period_inactive_, period_;
  bool is_first_move_half_;
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_PERIODIC_COM_REF_HPP_