VectorDescription.h

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/*
 * Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef VECTORDESCRIPTION_H
#define VECTORDESCRIPTION_H
 
#include <cstddef>
 
namespace bfl {
    class VectorDescription;
}
 
 
class bfl::VectorDescription
{
public:
    enum class CircularType { Euler, Quaternion };
 
    VectorDescription() = default;
 
    VectorDescription(const std::size_t linear_components, const std::size_t circular_components = 0, const std::size_t noise_components = 0, const CircularType& circular_type = CircularType::Euler);
 
    ~VectorDescription() = default;
 
    std::size_t linear_components() const;
 
    std::size_t circular_components() const;
 
    std::size_t noise_components() const;
 
    std::size_t linear_size() const;
 
    std::size_t circular_size() const;
 
    std::size_t noise_size() const;
 
    std::size_t total_size() const;
 
    std::size_t dof_size() const;
 
    void add_noise_components(const std::size_t& components);
 
    VectorDescription noiseless_description() const;
 
    CircularType circular_type = CircularType::Euler;
 
private:
 
    std::size_t linear_components_ = 0;
 
    std::size_t circular_components_ = 0;
 
    std::size_t noise_components_ = 0;
};
 
#endif /* VECTORDESCRIPTION_H */