hpp-core: include/hpp/core/path-optimization/trapezoidal-time-parameterization.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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trapezoidal-time-parameterization.hh
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1// Copyright (c) 2026 CNRS
2// Author: Paul Sardin
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
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9// 1. Redistributions of source code must retain the above copyright
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28
29#ifndef HPP_CORE_PATH_OPTIMIZATION_TRAPEZOIDAL_TIME_PARAMETERIZATION_HH
30#define HPP_CORE_PATH_OPTIMIZATION_TRAPEZOIDAL_TIME_PARAMETERIZATION_HH
31
32#include <hpp/core/path-optimizer.hh>
33
34namespace hpp {
35namespace core {
36namespace pathOptimization {
39
51 class HPP_CORE_DLLAPI TrapezoidalTimeParameterization : public PathOptimizer {
52 public:
54 static TrapezoidalTimeParameterizationPtr_t create(
55 const ProblemConstPtr_t& problem);
56
58 virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);
59
61 value_type maxVelocity() const { return maxVelocity_; }
63 void maxVelocity(const value_type& maxVelocity) {
64 maxVelocity_ = maxVelocity;
65 }
66
68 value_type maxAcceleration() const { return maxAcceleration_; }
70 void maxAcceleration(const value_type& maxAcceleration) {
71 maxAcceleration_ = maxAcceleration;
72 }
73
75 value_type minimumDuration() const { return minimumDuration_; }
77 void minimumDuration(const value_type& minimumDuration) {
78 minimumDuration_ = minimumDuration;
79 }
80
81 protected:
82 TrapezoidalTimeParameterization(const ProblemConstPtr_t& problem);
83
84 private:
85 value_type maxVelocity_;
86 value_type maxAcceleration_;
87 value_type minimumDuration_;
88}; // class TrapezoidalTimeParameterization
90} // namespace pathOptimization
91} // namespace core
92} // namespace hpp
93#endif // HPP_CORE_PATH_OPTIMIZATION_TRAPEZOIDAL_TIME_PARAMETERIZATION_HH
hpp::core::PathOptimizer
Definition path-optimizer.hh:44
hpp::core::pathOptimization::TrapezoidalTimeParameterization
Definition trapezoidal-time-parameterization.hh:51
hpp::core::pathOptimization::TrapezoidalTimeParameterization::optimize
virtual PathVectorPtr_t optimize(const PathVectorPtr_t &path)
Optimize path.
hpp::core::pathOptimization::TrapezoidalTimeParameterization::maxVelocity
void maxVelocity(const value_type &maxVelocity)
Set maximum velocity for each output degree of freedom.
Definition trapezoidal-time-parameterization.hh:63
hpp::core::pathOptimization::TrapezoidalTimeParameterization::maxVelocity
value_type maxVelocity() const
Maximum velocity for each output degree of freedom.
Definition trapezoidal-time-parameterization.hh:61
hpp::core::pathOptimization::TrapezoidalTimeParameterization::minimumDuration
value_type minimumDuration() const
Minimum duration assigned to each non-empty subpath.
Definition trapezoidal-time-parameterization.hh:75
hpp::core::pathOptimization::TrapezoidalTimeParameterization::TrapezoidalTimeParameterization
TrapezoidalTimeParameterization(const ProblemConstPtr_t &problem)
hpp::core::pathOptimization::TrapezoidalTimeParameterization::maxAcceleration
void maxAcceleration(const value_type &maxAcceleration)
Set maximum acceleration for each output degree of freedom.
Definition trapezoidal-time-parameterization.hh:70
hpp::core::pathOptimization::TrapezoidalTimeParameterization::minimumDuration
void minimumDuration(const value_type &minimumDuration)
Set minimum duration assigned to each non-empty subpath.
Definition trapezoidal-time-parameterization.hh:77
hpp::core::pathOptimization::TrapezoidalTimeParameterization::maxAcceleration
value_type maxAcceleration() const
Maximum acceleration for each output degree of freedom.
Definition trapezoidal-time-parameterization.hh:68
hpp::core::pathOptimization::TrapezoidalTimeParameterization::create
static TrapezoidalTimeParameterizationPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::pathOptimization::TrapezoidalTimeParameterizationPtr_t
shared_ptr< TrapezoidalTimeParameterization > TrapezoidalTimeParameterizationPtr_t
Definition fwd.hh:308
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition fwd.hh:193
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
path-optimizer.hh