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 {
41 const pinocchio::value_type& stepSize,
42 const std::size_t pathDofRank);
57 virtual bool validate(
const core::PathPtr_t& path,
bool reverse, core::PathPtr_t& validPart,
58 core::PathValidationReportPtr_t& report);
65 const std::size_t pathDofRank);
72 #endif // HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH