BUILD.bazel

# -*- python -*-

load(
    "@drake//tools/skylark:drake_cc.bzl",
    "drake_cc_googletest",
    "drake_cc_library",
    "drake_cc_package_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")

package(default_visibility = ["//visibility:public"])

drake_cc_package_library(
    name = "trajectories",
    deps = [
        ":piecewise_polynomial",
        ":piecewise_quaternion",
        ":piecewise_trajectory",
        ":trajectory",
    ],
)

# TODO(jwnimmer-tri) Move code to a trajectory.cc file
drake_cc_library(
    name = "trajectory",
    hdrs = ["trajectory.h"],
    deps = [
        "//common:essential",
    ],
)

drake_cc_library(
    name = "piecewise_trajectory",
    srcs = ["piecewise_trajectory.cc"],
    hdrs = ["piecewise_trajectory.h"],
    deps = [
        ":trajectory",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "piecewise_polynomial",
    srcs = [
        "exponential_plus_piecewise_polynomial.cc",
        "piecewise_polynomial.cc",
    ],
    hdrs = [
        "exponential_plus_piecewise_polynomial.h",
        "piecewise_polynomial.h",
    ],
    deps = [
        ":piecewise_trajectory",
        "//common:essential",
        "//common:polynomial",
        "@fmt",
    ],
)

drake_cc_library(
    name = "piecewise_quaternion",
    srcs = ["piecewise_quaternion.cc"],
    hdrs = ["piecewise_quaternion.h"],
    deps = [
        ":piecewise_polynomial",
        ":piecewise_trajectory",
        "//common:essential",
        "//math:geometric_transform",
    ],
)

# === test/ ===

drake_cc_library(
    name = "random_piecewise_polynomial",
    testonly = 1,
    hdrs = ["test/random_piecewise_polynomial.h"],
    deps = [
        "//common/test_utilities:random_polynomial_matrix",
    ],
)

drake_cc_googletest(
    name = "piecewise_trajectory_test",
    deps = [
        ":piecewise_trajectory",
    ],
)

drake_cc_googletest(
    name = "piecewise_generation_test",
    # Test timeout increased to not timeout when run with Valgrind.
    timeout = "moderate",
    srcs = ["test/piecewise_polynomial_generation_test.cc"],
    deps = [
        ":piecewise_polynomial",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

drake_cc_googletest(
    name = "piecewise_polynomial_test",
    deps = [
        ":piecewise_polynomial",
        ":random_piecewise_polynomial",
        "//common/test_utilities:eigen_matrix_compare",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "exponential_plus_piecewise_polynomial_test",
    deps = [
        ":piecewise_polynomial",
        ":random_piecewise_polynomial",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

drake_cc_googletest(
    name = "piecewise_quaternion_test",
    deps = [
        ":piecewise_quaternion",
        "//common/test_utilities:eigen_matrix_compare",
        "//math:wrap_to",
    ],
)

add_lint_tests()