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/* |
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* Copyright 2018, LAAS-CNRS |
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* Author: Steve Tonneau |
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*/ |
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#ifndef BEZIER_COM_TRAJ_FLAGS_H |
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#define BEZIER_COM_TRAJ_FLAGS_H |
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#include <hpp/bezier-com-traj/local_config.hh> |
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namespace bezier_com_traj { |
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enum BEZIER_COM_TRAJ_DLLAPI CostFunction { |
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ACCELERATION = 0x00001, |
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DISTANCE_TRAVELED = 0x00002, |
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TARGET_END_VELOCITY = 0x00004, |
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UNKNOWN_COST = 0x00008 |
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}; |
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enum BEZIER_COM_TRAJ_DLLAPI ConstraintFlag { |
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INIT_POS = 0x00001, |
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INIT_VEL = 0x00002, |
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INIT_ACC = 0x00004, |
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END_POS = 0x00008, |
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END_VEL = 0x00010, |
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END_ACC = 0x00020, |
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INIT_JERK = 0x00040, |
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END_JERK = 0x00080, |
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ONE_FREE_VAR = 0x00000, |
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TWO_FREE_VAR = 0x00100, |
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THREE_FREE_VAR = 0x00200, |
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FOUR_FREE_VAR = 0x00400, |
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FIVE_FREE_VAR = 0x00800, |
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UNKNOWN = 0x01000 |
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}; |
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enum BEZIER_COM_TRAJ_DLLAPI GIWCRepresentation { |
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DOUBLE_DESCRIPTION = 0x00001, |
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FORCE = 0x00002, |
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UNKNOWN_REPRESENTATION = 0x00004 |
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}; |
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inline ConstraintFlag operator~(ConstraintFlag a) { |
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return static_cast<ConstraintFlag>(~static_cast<const int>(a)); |
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} |
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inline ConstraintFlag operator|(ConstraintFlag a, ConstraintFlag b) { |
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return static_cast<ConstraintFlag>(static_cast<const int>(a) | |
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static_cast<const int>(b)); |
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} |
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inline ConstraintFlag operator&(ConstraintFlag a, ConstraintFlag b) { |
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return static_cast<ConstraintFlag>(static_cast<const int>(a) & |
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static_cast<const int>(b)); |
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} |
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inline ConstraintFlag operator^(ConstraintFlag a, ConstraintFlag b) { |
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return static_cast<ConstraintFlag>(static_cast<const int>(a) ^ |
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static_cast<const int>(b)); |
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} |
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inline ConstraintFlag& operator|=(ConstraintFlag& a, ConstraintFlag b) { |
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return (ConstraintFlag&)((int&)(a) |= static_cast<const int>(b)); |
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} |
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inline ConstraintFlag& operator&=(ConstraintFlag& a, ConstraintFlag b) { |
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return (ConstraintFlag&)((int&)(a) &= static_cast<const int>(b)); |
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} |
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inline ConstraintFlag& operator^=(ConstraintFlag& a, ConstraintFlag b) { |
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return (ConstraintFlag&)((int&)(a) ^= static_cast<const int>(b)); |
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} |
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} // end namespace bezier_com_traj |
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#endif |
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