include/barrett/math/trapezoidal_velocity_profile.h

/*
 * trapezoidal_velocity_profile.h
 *
 *  Created on: Dec 23, 2009
 *      Author: dc
 */

#ifndef BARRETT_MATH_TRAPEZOIDAL_VELOCITY_PROFILE_H_
#define BARRETT_MATH_TRAPEZOIDAL_VELOCITY_PROFILE_H_


#include <barrett/detail/ca_macro.h>


// forward declaration from <barrett/profile/profile.h>
struct bt_profile;


namespace barrett {
namespace math {


class TrapezoidalVelocityProfile {
public:
        TrapezoidalVelocityProfile(double velocity, double acceleration,
                        double initialVelocity, double pathLength);
        ~TrapezoidalVelocityProfile();

        double finalT() const;

        double eval(double t) const;

        typedef double result_type;  
        result_type operator() (double t) const {
                return eval(t);
        }

protected:
        double v, a, v_0, l;
        struct bt_profile* impl;

private:
        DISALLOW_COPY_AND_ASSIGN(TrapezoidalVelocityProfile);
};


}
}


#endif /* BARRETT_MATH_TRAPEZOIDAL_VELOCITY_PROFILE_H_ */