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/** @author Dalibor Matura, Jia Pan */

#include "fcl/math/motion/taylor_model/interpolation/interpolation_linear.h"
#include "fcl/math/motion/taylor_model/interpolation/interpolation_factory.h"

namespace fcl 
{

InterpolationType interpolation_linear_type = LINEAR;

InterpolationLinear::InterpolationLinear() : Interpolation(0.0, 1.0)
{}

InterpolationLinear::InterpolationLinear(real start_value, real end_value) : Interpolation(start_value, end_value)
{}

real InterpolationLinear::getValue(real time) const
{
  return value_0_ + (value_1_ - value_0_) * time;
}

real InterpolationLinear::getValueLowerBound() const
{
  return value_0_;
}

real InterpolationLinear::getValueUpperBound() const
{
  return value_1_;
}

InterpolationType InterpolationLinear::getType() const
{
  return interpolation_linear_type;
}

std::shared_ptr<Interpolation> InterpolationLinear::create(real start_value, real end_value)
{
  return std::shared_ptr<Interpolation>(new InterpolationLinear(start_value, end_value) );
}

void InterpolationLinear::registerToFactory()
{
  InterpolationFactory::instance().registerClass(interpolation_linear_type, create);
}

real InterpolationLinear::getMovementLengthBound(real time) const
{
  return getValueUpperBound() - getValue(time);
}

real InterpolationLinear::getVelocityBound(real time) const
{
  return (value_1_ - value_0_);
}

}
