39 lines
1.0 KiB
C++
39 lines
1.0 KiB
C++
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/**
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* Copyright 2020 Jonathan Bayless
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*
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* Use of this source code is governed by an MIT-style license that can be found
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* in the LICENSE file or at https://opensource.org/licenses/MIT.
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*/
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#ifndef _PHYSICAL_MODEL_PASSTHROUGH_MODEL_HPP_
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#define _PHYSICAL_MODEL_PASSTHROUGH_MODEL_HPP_
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#include "physicalmodel/physicalmodel.hpp"
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namespace squiggles {
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class PassthroughModel : public PhysicalModel {
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public:
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/**
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* Defines a Physical Model that imposes no constraints of its own.
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*/
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PassthroughModel() = default;
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Constraints constraints([[maybe_unused]] const Pose pose,
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[[maybe_unused]] double curvature,
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double vel) override {
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return Constraints(vel);
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};
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std::vector<double>
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linear_to_wheel_vels([[maybe_unused]] double lin_vel,
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[[maybe_unused]] double curvature) override {
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return std::vector<double>{};
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}
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std::string to_string() const override {
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return "PassthroughModel {}";
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}
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};
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} // namespace squiggles
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#endif
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