trapezoidal-time-parameterization.hh

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// Copyright (c) 2026 CNRS
// Author: Paul Sardin
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
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//
// 1. Redistributions of source code must retain the above copyright
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// 2. Redistributions in binary form must reproduce the above copyright
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#ifndef HPP_CORE_PATH_OPTIMIZATION_TRAPEZOIDAL_TIME_PARAMETERIZATION_HH
#define HPP_CORE_PATH_OPTIMIZATION_TRAPEZOIDAL_TIME_PARAMETERIZATION_HH
 
#include <hpp/core/path-optimizer.hh>
 
namespace hpp {
namespace core {
namespace pathOptimization {

class HPP_CORE_DLLAPI TrapezoidalTimeParameterization : public PathOptimizer {
 public:
  static TrapezoidalTimeParameterizationPtr_t create(
      const ProblemConstPtr_t& problem);

  virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);

  value_type maxVelocity() const { return maxVelocity_; }
  void maxVelocity(const value_type& maxVelocity) {
    maxVelocity_ = maxVelocity;
  }

  value_type maxAcceleration() const { return maxAcceleration_; }
  void maxAcceleration(const value_type& maxAcceleration) {
    maxAcceleration_ = maxAcceleration;
  }

  value_type minimumDuration() const { return minimumDuration_; }
  void minimumDuration(const value_type& minimumDuration) {
    minimumDuration_ = minimumDuration;
  }
 
 protected:
  TrapezoidalTimeParameterization(const ProblemConstPtr_t& problem);
 
 private:
  value_type maxVelocity_;
  value_type maxAcceleration_;
  value_type minimumDuration_;
};  // class TrapezoidalTimeParameterization

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