simple-time-parameterization.hh

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// Copyright (c) 2017, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// 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.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// DAMAGE.
 
#ifndef HPP_CORE_PATH_OPTIMIZATION_SIMPLE_TIME_PARAMETERIZATION_HH
#define HPP_CORE_PATH_OPTIMIZATION_SIMPLE_TIME_PARAMETERIZATION_HH
 
#include <hpp/core/path-optimizer.hh>
 
namespace hpp {
namespace core {
namespace pathOptimization {

 
class HPP_CORE_DLLAPI SimpleTimeParameterization : public PathOptimizer {
 public:
  static SimpleTimeParameterizationPtr_t create(
      const ProblemConstPtr_t& problem);

  virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);

  value_type safety;
  size_type order;
  value_type maxAcceleration;
 
 protected:
  SimpleTimeParameterization(const ProblemConstPtr_t& problem);
};  // class SimpleTimeParameterization

}  // namespace pathOptimization
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_PATH_OPTIMIZATION_SIMPLE_TIME_PARAMETERIZATION_HH