Restructured Codebase

CMakeLists.txt

@@ -73,5 +73,10 @@ if (BUILD_EXAMPLES)
 endif ()
 
 install(FILES
+  "${PROJECT_SOURCE_DIR}/utilities.hpp"
+  "${PROJECT_SOURCE_DIR}/bezier.hpp"
+  "${PROJECT_SOURCE_DIR}/planning_space.hpp"
+  "${PROJECT_SOURCE_DIR}/planner.hpp"
+  "${PROJECT_SOURCE_DIR}/LinearJointVelocityVarying.hpp"
   "${PROJECT_SOURCE_DIR}/sea_current.hpp"
   DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

LinearJointVelocityVarying.hpp

@@ -0,0 +1,57 @@
+#pragma once
+
+#include <iostream>
+#include <vector>
+#include <cmath>
+#include <complex>
+#include <numbers>
+#include <algorithm>
+#include <tuple>
+#include <functional>
+#include <queue>
+#include <limits>
+#include <unordered_set>
+#include <unordered_map>
+#include <optional>
+#include <string>
+
+#include <Eigen/Dense>
+#include <unsupported/Eigen/FFT>
+
+#include <toppra/toppra.hpp>
+#include <toppra/geometric_path.hpp>
+#include <toppra/geometric_path/piecewise_poly_path.hpp>
+#include <toppra/constraint/linear_joint_velocity.hpp>
+#include <toppra/constraint/linear_joint_acceleration.hpp>
+#include <toppra/algorithm/toppra.hpp>
+#include <toppra/parametrizer.hpp>
+#include <toppra/parametrizer/spline.hpp>
+
+#include "utilities.hpp"
+#include "planning_space.hpp"
+#include "planner.hpp"
+#include "bezier.hpp"
+
+using toppra::value_type;
+using toppra::constraint::LinearJointVelocity;
+using vel_lim_func = std::function<std::tuple<toppra::Vector, toppra::Vector>(value_type time)>;
+
+class LinearJointVelocityVarying : public LinearJointVelocity {
+    public:
+        vel_lim_func calc_lim;
+        LinearJointVelocityVarying(int nDof, vel_lim_func calc_lim);
+
+    protected:
+        void computeVelocityLimits(value_type time);
+};
+
+
+LinearJointVelocityVarying::LinearJointVelocityVarying(int nDof, vel_lim_func calc_lim) : 
+LinearJointVelocity (-1*toppra::Vector::Ones(1), 1*toppra::Vector::Ones(1)) {
+    this->calc_lim = calc_lim;
+    computeVelocityLimits(0);
+}
+
+void LinearJointVelocityVarying::computeVelocityLimits(value_type time) {
+    std::tie(m_lower, m_upper) = calc_lim(time);
+}