TrajectoryParametrizationFactory.cpp

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "TrajectoryParametrizationFactory.h"
 
#include <memory>
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <armarx/navigation/algorithms/parametrization/NoParametrization.h>
#include <armarx/navigation/algorithms/parametrization/Ramping.h>
 
namespace armarx::navigation::fac
{
 
    algorithms::TrajectoryParametrizationPtr
    TrajectoryParametrizationFactory::create(const core::GeneralConfig& generalConfig,
                                             const algorithms::Toppra::DriveParams& drive)
    {
        switch (generalConfig.parametrization)
        {
            case core::TrajectoryParametrization::None:
                return std::make_shared<algorithms::NoParametrization>();
 
            case core::TrajectoryParametrization::Ramping:
                return std::make_shared<algorithms::Ramping>(generalConfig);
 
            case core::TrajectoryParametrization::Toppra:
                // Constructed even when the python side is missing: it reports the reason from
                // apply(), which keeps this switch free of preprocessor branches.
                if (not algorithms::Toppra::available())
                {
                    ARMARX_WARNING << "TOPP-RA parametrization was configured but is not "
                                      "available: "
                                   << algorithms::Toppra::unavailableReason()
                                   << ". Planning will fail when it is used.";
                }
 
                return std::make_shared<algorithms::Toppra>(generalConfig, drive);
        }
 
        ARMARX_ERROR << "switch-case not comprehensive!";
 
        return std::make_shared<algorithms::Ramping>(generalConfig);
    }
 
} // namespace armarx::navigation::fac