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 {
42 create (
const pinocchio::DevicePtr_t& robot,
const pinocchio::value_type& stepSize,
const std::size_t pathDofRank);
57 virtual bool validate (
const core::PathPtr_t& path,
bool reverse,
58 core::PathPtr_t& validPart,
59 core::PathValidationReportPtr_t& report);
66 (
const pinocchio::DevicePtr_t& robot,
const pinocchio::value_type& stepSize,
const std::size_t pathDofRank);
73 #endif // HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH