From faa1f8d9f0f26181b8df7aa6e6263e9ef331b85d Mon Sep 17 00:00:00 2001
From: Tim Schneider <mail@tim-schneider.me>
Date: Mon, 27 May 2024 21:50:43 +0200
Subject: [PATCH] Implemented non-zero velocity joint waypoints

---
 include/franky/joint_state.hpp | 40 ++++++++++++++++++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 include/franky/joint_state.hpp

diff --git a/include/franky/joint_state.hpp b/include/franky/joint_state.hpp
new file mode 100644
index 00000000..1de3ca68
--- /dev/null
+++ b/include/franky/joint_state.hpp
@@ -0,0 +1,40 @@
+#pragma once
+
+#include <optional>
+#include <Eigen/Core>
+#include <utility>
+
+#include "franky/robot_pose.hpp"
+#include "franky/robot_velocity.hpp"
+
+namespace franky {
+
+class JointState {
+ public:
+  // Suppress implicit conversion warning
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wimplicit-conversion"
+  JointState(Vector7d position) : position_(std::move(position)), velocity_(Vector7d::Zero()) {}
+#pragma clang diagnostic pop
+
+  JointState(Vector7d pose, Vector7d velocity)
+      : position_(std::move(pose)), velocity_(std::move(velocity)) {}
+
+  JointState(const JointState &) = default;
+
+  JointState() = default;
+
+  [[nodiscard]] inline Vector7d position() const {
+    return position_;
+  }
+
+  [[nodiscard]] inline Vector7d velocity() const {
+    return velocity_;
+  }
+
+ private:
+  Vector7d position_;
+  Vector7d velocity_;
+};
+
+}  // namespace franky