bang_bang_trajectory_1d_angular.h

#pragma once
 
#include "software/ai/navigator/trajectory/bang_bang_trajectory_1d.h"
#include "software/geom/angle.h"
#include "software/geom/angular_acceleration.h"
#include "software/geom/angular_velocity.h"
 
class BangBangTrajectory1DAngular
    : public Trajectory<Angle, AngularVelocity, AngularAcceleration>
{
   public:
    BangBangTrajectory1DAngular() = default;
 
    BangBangTrajectory1DAngular(Angle initial_orient, Angle final_orient,
                                AngularVelocity initial_angular_vel,
                                AngularVelocity max_angular_vel,
                                AngularAcceleration max_angular_accel,
                                AngularAcceleration max_angular_decel);
 
    void generate(Angle initial_orient, Angle final_orient,
                  AngularVelocity initial_angular_vel, AngularVelocity max_angular_vel,
                  AngularAcceleration max_angular_accel,
                  AngularAcceleration max_angular_decel);
 
    Angle getPosition(double t_sec) const override;
 
    AngularVelocity getVelocity(double t_sec) const override;
 
    AngularAcceleration getAcceleration(double t_sec) const override;
 
    double getTotalTime() const override;
 
   private:
    BangBangTrajectory1D trajectory;
};