Ramping.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/core/NavigationStackGeneralConfig.h>
 
namespace armarx::navigation::algorithms
{
 
    /**
     * @brief Ramps the velocity down at the start, at the goal and at every corner.
     *
     * The navigation stack's historical behaviour, moved here verbatim from
     * `Navigator::setupRamping`. Parameters stay in `core::GeneralConfig` -- `rampLength`,
     * `cornerVelocity`, `boundaryVelocity`, `cornerLimit` and the three enable flags -- so
     * existing configurations keep working unchanged.
     *
     * The ramp itself is acceleration-bounded -- `v(s) = sqrt(v_fixed^2 + 2 a s)` with `a`
     * derived so it spans `rampLength` from `goalVelocity` to `maxVel` -- so it stays well
     * defined on a trajectory shorter than `rampLength`. It still knows nothing about the
     * motors: `a` comes from the configured distance, not from what the drive can deliver, so
     * the profile can demand more than the device command ramp will execute.
     */
    class Ramping : public TrajectoryParametrization
    {
    public:
        explicit Ramping(const core::GeneralConfig& config);
 
        void apply(core::GlobalTrajectory& trajectory, float startVelocity) const override;
 
    private:
        core::GeneralConfig config_;
    };
 
} // namespace armarx::navigation::algorithms