19#ifndef HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH
20#define HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH
22#include <hpp/core/path-validation/discretized.hh>
26namespace interpolation {
30typedef shared_ptr<TimeConstraintPathValidation>
40 :
public core::pathValidation::Discretized {
43 const pinocchio::DevicePtr_t& robot,
44 const pinocchio::value_type& stepSize,
const std::size_t pathDofRank);
59 virtual bool validate(
const core::PathPtr_t& path,
bool reverse,
60 core::PathPtr_t& validPart,
61 core::PathValidationReportPtr_t& report);
68 const pinocchio::value_type& stepSize,
69 const std::size_t pathDofRank);
Definition: time-constraint-path-validation.hh:40
virtual bool validate(const core::PathPtr_t &path, bool reverse, core::PathPtr_t &validPart, core::PathValidationReportPtr_t &report)
static TimeConstraintPathValidationPtr_t create(const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank)
const std::size_t pathDofRank_
Definition: time-constraint-path-validation.hh:64
TimeConstraintPathValidation(const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank)
HPP_PREDEF_CLASS(ComTrajectory)
shared_ptr< TimeConstraintPathValidation > TimeConstraintPathValidationPtr_t
Definition: time-constraint-path-validation.hh:31
Definition: algorithm.hh:26