DummyTrajectoryGenerator.h

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#ifndef DUMMYTRAJECTORYGENERATOR_H_INCLUDED
#define DUMMYTRAJECTORYGENERATOR_H_INCLUDED

#include <cmath>

#include "TrajectoryGenerator.h"

#define deg2rad(deg) ((deg)*M_PI / 180.0)
#define rad2deg(rad) ((rad)*180.0 / M_PI)

enum Trajectory {
    SIT = 0,
    STAND = 1,
};

class DummyTrajectoryGenerator : public TrajectoryGenerator {
   private:
    std::vector<double[2]> endPoints;
    Trajectory currTraj = SIT;
    double trajTime = 2;
    int numJoints = 6;
    double lastProgress = 0;

   public:
    DummyTrajectoryGenerator(int NumOfJoints);
    bool initialiseTrajectory();

    bool initialiseTrajectory(Trajectory traj, double time);

    std::vector<double> getSetPoint(double time);

    bool isTrajectoryFinished();
};
#endif