TimedTrajectoryFactory.h

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#ifndef TIMEDTRAJECTORYFACTORY_H
#define TIMEDTRAJECTORYFACTORY_H
 
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.h>
 
#include "TimedTrajectory.h"
 
namespace armarx
{
    class TimedTrajectoryFactory;
 
    /**
     * @class TimedTrajectoryFactory
     * @brief Creates a TimedTrajectory out of a TimeOptimalTrajectory supplied by Simox methods.
    */
    class TimedTrajectoryFactory
    {
    public:
        /**
         * @brief Creates a TimedTrajectory out of the TimeOptimalTrajectory and maps the parameter userPoints to it.
         * @param trajectory The nodes of the trajectory.
         * @param userPoints The userPoints that have to be mapped.
         * @param maxDeviation The maximum deviation with which the userPoints may vary from the input TimedTrajectory.
         * @return A TimedTrajectory which contains the timestamps of the supplied userPoints.
         */
        static TimedTrajectory
        createTimedTrajectory(VirtualRobot::TimeOptimalTrajectory& trajectory,
                              std::vector<std::vector<double>>& userPoints,
                              VirtualRobot::RobotNodeSetPtr rns,
                              double maxDeviation);
    };
} // namespace armarx
#endif // TIMEDTRAJECTORYFACTORY_H