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> 26 namespace interpolation {
30 typedef shared_ptr<TimeConstraintPathValidation>
40 :
public core::pathValidation::Discretized {
42 static TimeConstraintPathValidationPtr_t create(
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);
76 #endif // HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH Definition: algorithm.hh:26
Definition: time-constraint-path-validation.hh:39
const std::size_t pathDofRank_
Definition: time-constraint-path-validation.hh:64
shared_ptr< TimeConstraintPathValidation > TimeConstraintPathValidationPtr_t
Definition: time-constraint-path-validation.hh:29
HPP_PREDEF_CLASS(ComTrajectory)