ParametrizationDump.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 <optional>
#include <string>
 
#include <armarx/navigation/algorithms/parametrization/Toppra.h>
#include <armarx/navigation/core/NavigationStackGeneralConfig.h>
#include <armarx/navigation/core/Trajectory.h>
 
namespace armarx::navigation::server
{
 
    /// One navigation request's velocity profile, before and after parametrization.
    struct ParametrizationRecord
    {
        /// What the stack was configured to use.
        core::TrajectoryParametrization requested;
 
        /// What actually ran. Differs from `requested` whenever TOPP-RA degraded -- recorded in
        /// the artefact and not only in the log, so an unexpected profile explains itself.
        core::TrajectoryParametrization applied;
 
        /// The planner's output. Its velocities are the obstacle-aware limit, which is why the
        /// caller must copy it before parametrizing in place.
        core::GlobalTrajectory planned;
 
        /// The profile that will be executed.
        core::GlobalTrajectory parametrized;
 
        /// Null unless TOPP-RA ran; supplies the time axis, which a `GlobalTrajectory` lacks.
        const algorithms::Toppra* toppra{nullptr};
 
        /// The bounds the profile was solved against, when TOPP-RA was configured. Reported so
        /// the constraint-utilization panel can show which one was binding.
        std::optional<algorithms::Toppra::DriveParams> driveParams;
 
        float maxVelocity{0.F};
        float maxAngularVelocity{0.F};
    };
 
    /**
     * @brief Write `record` as JSON, for offline rendering with `plot-navigation-request`.
     *
     * The navigator writes data, never pixels: plotting would put matplotlib into the process
     * that drives the robot, and the embedded interpreter is in any case private to the
     * `algorithms` target.
     *
     * Writes `path` and a timestamped sibling, so the latest is always at a predictable
     * location while a sequence of requests remains available for comparison.
     *
     * Never throws: a debugging aid must not be able to abort a navigation request. Failures are
     * logged and swallowed.
     *
     * The schema deliberately reuses the key names of `global_planning_analysis`'s `result.json`
     * where the two overlap, so the same plotting functions read both.
     */
    void writeParametrizationDump(const ParametrizationRecord& record, const std::string& path);
 
} // namespace armarx::navigation::server