TrajectoryParametrization.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
 
#include <memory>
 
#include <armarx/navigation/core/Trajectory.h>
 
namespace armarx::navigation::algorithms
{
 
    /**
     * @brief Assigns the velocities along an already planned path.
     *
     * The global planner decides *where* the robot goes; this decides *how fast*. Splitting the
     * two lets the speed profile answer to the platform's dynamics -- motor torque, the device
     * command ramp -- which the planner knows nothing about.
     *
     * Implementations are constructed by `fac::TrajectoryParametrizationFactory` from
     * `core::GeneralConfig::parametrization`.
     */
    class TrajectoryParametrization
    {
    public:
        virtual ~TrajectoryParametrization() = default;
 
        /**
         * @brief Re-assign the velocities of `trajectory` in place.
         *
         * @param startVelocity  Speed the robot already carries [mm/s]. The caller passes the
         *                       measured platform speed when picking a trajectory up mid-motion,
         *                       and `GeneralConfig::boundaryVelocity` when starting from rest.
         *
         * @throws std::runtime_error if the implementation is unavailable in this build.
         */
        virtual void apply(core::GlobalTrajectory& trajectory, float startVelocity) const = 0;
    };
 
    using TrajectoryParametrizationPtr = std::shared_ptr<TrajectoryParametrization>;
 
} // namespace armarx::navigation::algorithms