time_parameterization.h

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#pragma once
 
#include <moveit/robot_trajectory/robot_trajectory.h>
 
namespace trajectory_processing
{
MOVEIT_CLASS_FORWARD(TimeParameterization);
class TimeParameterization
{
public:
  TimeParameterization() = default;
  TimeParameterization(const TimeParameterization&) = default;
  TimeParameterization(TimeParameterization&&) = default;
  TimeParameterization& operator=(const TimeParameterization&) = default;
  TimeParameterization& operator=(TimeParameterization&&) = default;
  virtual ~TimeParameterization() = default;
 
  virtual bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory,
                                 const double max_velocity_scaling_factor = 1.0,
                                 const double max_acceleration_scaling_factor = 1.0) const = 0;
 
  virtual bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory,
                                 const std::unordered_map<std::string, double>& velocity_limits,
                                 const std::unordered_map<std::string, double>& acceleration_limits,
                                 const double max_velocity_scaling_factor = 1.0,
                                 const double max_acceleration_scaling_factor = 1.0) const = 0;
 
  virtual bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory,
                                 const std::vector<moveit_msgs::msg::JointLimits>& joint_limits,
                                 const double max_velocity_scaling_factor = 1.0,
                                 const double max_acceleration_scaling_factor = 1.0) const = 0;
};
}  // namespace trajectory_processing