TimedElasticBandsParams.cpp

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#include "TimedElasticBandsParams.h"
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
 
#include <armarx/navigation/local_planning/core.h>
 
namespace armarx::navigation::local_planning
{
    // TimedElasticBandsParams
 
    Algorithms
    TimedElasticBandsParams::algorithm() const
    {
        return Algorithms::TimedElasticBands;
    }
 
    aron::data::DictPtr
    TimedElasticBandsParams::toAron() const
    {
        return cfg.toAron();
    }
 
    TimedElasticBandsParams
    TimedElasticBandsParams::FromAron(const aron::data::DictPtr& dict)
    {
        ARMARX_CHECK_NOT_NULL(dict);
 
        TimedElasticBandsParams bo;
        bo.cfg.fromAron(dict);
 
        return bo;
    }
} // namespace armarx::navigation::local_planning