text: /*********************************************************************
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2011, Willow Garage, Inc.
   *  All rights reserved.
   *
   *  Redistribution and use in source and binary forms, with or without
   *  modification, are permitted provided that the following conditions
   *  are met:
   *
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the name of Willow Garage nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *  POSSIBILITY OF SUCH DAMAGE.
   *********************************************************************/
  
  /* Author: Ken Anderson */
  
  #pragma once
  
  #include <moveit/robot_trajectory/robot_trajectory.h>
  #include <moveit/trajectory_processing/time_parameterization.h>
  
  namespace trajectory_processing
  {
  /// \brief This class  modifies the timestamps of a trajectory to respect
  /// velocity and acceleration constraints.
  MOVEIT_CLASS_FORWARD(IterativeParabolicTimeParameterization);
  class IterativeParabolicTimeParameterization : public TimeParameterization
  {
  public:
    IterativeParabolicTimeParameterization(unsigned int max_iterations = 100, double max_time_change_per_it = .01);
  
    bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
                           const double max_acceleration_scaling_factor = 1.0) const override;
  
  private:
    unsigned int max_iterations_;    /// @brief maximum number of iterations to find solution
    double max_time_change_per_it_;  /// @brief maximum allowed time change per iteration in seconds
  
    void applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
                                  const double max_velocity_scaling_factor) const;
  
    void applyAccelerationConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
                                      const double max_acceleration_scaling_factor) const;
  
    double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const;
    double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const;
  };
  }  // namespace trajectory_processing
  