TrajectoryParametrizationFactory.h

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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
 */
 
#pragma once
#pragma once
 
#include <armarx/navigation/algorithms/parametrization/TrajectoryParametrization.h>
#include <armarx/navigation/algorithms/parametrization/Toppra.h>
#include <armarx/navigation/core/NavigationStackGeneralConfig.h>
 
namespace armarx::navigation::fac
{
 
    /**
     * @brief Builds the trajectory parametrization named by `GeneralConfig::parametrization`.
     *
     * Unlike the planner factories this takes no Aron dict: the choice is a plain enum on the
     * general config, and each variant reads whatever parameters it needs from there too.
     */
    class TrajectoryParametrizationFactory
    {
    public:
        /// `drive` is only consulted by the Toppra variant; the others ignore it.
        static algorithms::TrajectoryParametrizationPtr
        create(const core::GeneralConfig& generalConfig,
               const algorithms::Toppra::DriveParams& drive = {});
    };
 
} // namespace armarx::navigation::fac