NoParametrization.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>
 
namespace armarx::navigation::algorithms
{
 
    /**
     * @brief Keeps the planner's velocities exactly as they are.
     *
     * Exists so that "do nothing" is a variant like any other and the caller never branches on
     * the enum. Note that the resulting profile generally ends at travel speed, which no device
     * command ramp can stop within the remaining path -- expect the base to overshoot.
     */
    class NoParametrization : public TrajectoryParametrization
    {
    public:
        void apply(core::GlobalTrajectory& trajectory, float startVelocity) const override;
    };
 
} // namespace armarx::navigation::algorithms