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include/okapi/squiggles/physicalmodel/passthroughmodel.hpp

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