feat!: split trajectory classes and implement Cartesian/JointState specializations

CHANGELOG.md

@@ -22,6 +22,7 @@ Release Versions
 - feat: improve support for transformation matrices (#146)
 - fix: unstable python test (#221)
 - feat: move up to C++20 (#220)
+- feat: split trajectory classes and implement Cartesian/JointState specializations (#216)
 
 ## 9.1.0
 

python/source/state_representation/bind_state.cpp

@@ -22,7 +22,8 @@ void state_type(py::module_& m) {
       .value("PARAMETER", StateType::PARAMETER)
       .value("GEOMETRY_SHAPE", StateType::GEOMETRY_SHAPE)
       .value("GEOMETRY_ELLIPSOID", StateType::GEOMETRY_ELLIPSOID)
-      .value("TRAJECTORY", StateType::TRAJECTORY)
+      .value("CARTESIAN_TRAJECTORY", StateType::CARTESIAN_TRAJECTORY)
+      .value("JOINT_TRAJECTORY", StateType::JOINT_TRAJECTORY)
       .value("DIGITAL_IO_STATE", StateType::DIGITAL_IO_STATE)
       .value("ANALOG_IO_STATE", StateType::ANALOG_IO_STATE)
       .export_values();

source/state_representation/CMakeLists.txt

@@ -29,6 +29,8 @@ set(CORE_SOURCES
   src/parameters/Predicate.cpp
   src/geometry/Shape.cpp
   src/geometry/Ellipsoid.cpp
+  src/trajectory/CartesianTrajectory.cpp
+  src/trajectory/JointTrajectory.cpp
 )
 
 if (EXPERIMENTAL_FEATURES)

source/state_representation/include/state_representation/StateType.hpp

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <string>
+
 /**
  * @namespace state_representation
  * @brief Core state variables and objects
@@ -11,30 +13,31 @@ namespace state_representation {
  * @brief The class types inheriting from State
  */
 enum class StateType {
-  NONE,
-  STATE,
-  SPATIAL_STATE,
-  CARTESIAN_STATE,
-  CARTESIAN_POSE,
-  CARTESIAN_TWIST,
-  CARTESIAN_ACCELERATION,
-  CARTESIAN_WRENCH,
-  JOINT_STATE,
-  JOINT_POSITIONS,
-  JOINT_VELOCITIES,
-  JOINT_ACCELERATIONS,
-  JOINT_TORQUES,
-  JACOBIAN,
-  PARAMETER,
-  GEOMETRY_SHAPE,
-  GEOMETRY_ELLIPSOID,
-  TRAJECTORY,
-  DIGITAL_IO_STATE,
-  ANALOG_IO_STATE,
+  NONE = 0,
+  STATE = 1,
+  SPATIAL_STATE = 2,
+  CARTESIAN_STATE = 3,
+  CARTESIAN_POSE = 4,
+  CARTESIAN_TWIST = 5,
+  CARTESIAN_ACCELERATION = 6,
+  CARTESIAN_WRENCH = 7,
+  JOINT_STATE = 8,
+  JOINT_POSITIONS = 9,
+  JOINT_VELOCITIES = 10,
+  JOINT_ACCELERATIONS = 11,
+  JOINT_TORQUES = 12,
+  JACOBIAN = 13,
+  PARAMETER = 14,
+  GEOMETRY_SHAPE = 15,
+  GEOMETRY_ELLIPSOID = 16,
+  DIGITAL_IO_STATE = 18,
+  ANALOG_IO_STATE = 19,
+  CARTESIAN_TRAJECTORY = 20,
+  JOINT_TRAJECTORY = 21,
 #ifdef EXPERIMENTAL_FEATURES
-  DUAL_QUATERNION_STATE,
-  DUAL_QUATERNION_POSE,
-  DUAL_QUATERNION_TWIST
+  DUAL_QUATERNION_STATE = 22,
+  DUAL_QUATERNION_POSE = 23,
+  DUAL_QUATERNION_TWIST = 24
 #endif
 };
 
@@ -75,8 +78,10 @@ enum class StateType {
       return "Shape";
     case StateType::GEOMETRY_ELLIPSOID:
       return "Ellipsoid";
-    case StateType::TRAJECTORY:
-      return "Trajectory";
+    case StateType::CARTESIAN_TRAJECTORY:
+      return "CartesianTrajectory";
+    case StateType::JOINT_TRAJECTORY:
+      return "JointTrajectory";
     case StateType::DIGITAL_IO_STATE:
       return "DigitalIOState";
     case StateType::ANALOG_IO_STATE: