rs-time-parameterization.hh

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//
// Copyright (c) 2019 - 2024 CNRS
//
// Author: Florent Lamiraux
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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#ifndef HPP_CORE_PATH_OPTIMIZATION_RS_TIME_PARAMETERIZATION_HH
#define HPP_CORE_PATH_OPTIMIZATION_RS_TIME_PARAMETERIZATION_HH
 
#include <hpp/core/path-optimizer.hh>
#include <hpp/core/steering-method/constant-curvature.hh>
 
namespace hpp {
namespace core {
namespace pathOptimization {
class HPP_CORE_DLLAPI RSTimeParameterization : public PathOptimizer {
 public:
  static RSTimeParameterizationPtr_t create(const ProblemConstPtr_t& problem);
  virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);
 
 protected:
  RSTimeParameterization(const ProblemConstPtr_t& problem)
      : PathOptimizer(problem) {}
};  // class ReedsShepp
 
}  // namespace pathOptimization
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_PATH_OPTIMIZATION_RS_TIME_PARAMETERIZATION_HH