Transformation.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __TRANSFORMATION_HPP__
#define __TRANSFORMATION_HPP__
 
#include <yarp/os/Searchable.h>
 
#include <vector>
 
namespace roboticslab
{
 
class Transformation
{
public:
    Transformation() : valid(false) {}
    virtual ~Transformation() = default;
    bool isValid() const { return valid; }
    virtual double transform(double value) = 0;
protected:
    bool valid {false};
};
 
class LinearTransformation : public Transformation
{
public:
    LinearTransformation(yarp::os::Searchable * parameters);
    double transform(double value) override;
private:
    double m, b;
};
 
class PiecewiseLinearTransformation : public Transformation
{
public:
    PiecewiseLinearTransformation(yarp::os::Searchable * parameters);
    double transform(double value) override;
private:
    std::vector<double> inData;
    std::vector<double> outData;
};
 
} // namespace roboticslab
 
#endif // __TRANSFORMATION_HPP__