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// |
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// Copyright (c) 2014 CNRS |
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// Authors: Florent Lamiraux |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_CORE_CONSTRAINT_HH |
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#define HPP_CORE_CONSTRAINT_HH |
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#include <hpp/core/config.hh> |
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#include <hpp/core/fwd.hh> |
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#include <hpp/util/serialization-fwd.hh> |
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#include <ostream> |
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namespace hpp { |
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namespace core { |
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/// \addtogroup constraints |
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/// \{ |
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/// Constraint applicable to a robot configuration |
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/// |
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/// Constraint::apply takes as input a configuration and changes it into |
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/// a configuration satisfying the constraint. |
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/// |
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/// User should define impl_compute in derived classes. |
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class HPP_CORE_DLLAPI Constraint { |
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public: |
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/// Function that applies the constraint |
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/// \param configuration initial configuration and result |
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/// \return true if constraint applied successfully, false if failure. |
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bool apply(ConfigurationOut_t configuration); |
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/// Get name of constraint |
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const std::string& name() const { return name_; } |
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/// Check whether a configuration statisfies the constraint. |
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/// |
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/// \param config the configuration to check |
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virtual bool isSatisfied(ConfigurationIn_t config) = 0; |
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/// Check whether a configuration statisfies the constraint. |
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/// |
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/// \param config the configuration to check |
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/// \retval error error expressed as a vector. Size and content depends |
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/// on implementations |
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virtual bool isSatisfied(ConfigurationIn_t config, vector_t& error) = 0; |
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/// return shared pointer to copy |
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virtual ConstraintPtr_t copy() const = 0; |
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virtual ~Constraint() {}; |
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protected: |
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/// User defined implementation of the constraint. |
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virtual bool impl_compute(ConfigurationOut_t configuration) = 0; |
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/// Constructor |
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Constraint(const std::string& name) : name_(name), weak_() {} |
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Constraint(const Constraint& constraint) : name_(constraint.name_), weak_() {} |
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/// Store shared pointer to itself |
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void init(const ConstraintPtr_t& self) { weak_ = self; } |
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private: |
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virtual std::ostream& print(std::ostream& os) const = 0; |
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virtual void addLockedJoint(const LockedJointPtr_t&) {} |
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std::string name_; |
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ConstraintWkPtr_t weak_; |
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friend class ConstraintSet; |
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friend class constraints::LockedJoint; |
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friend class ConfigProjector; |
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friend std::ostream& operator<<(std::ostream& os, const Constraint&); |
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Constraint() {} |
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HPP_SERIALIZABLE(); |
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}; // class Constraint |
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inline std::ostream& operator<<(std::ostream& os, |
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const Constraint& constraint) { |
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return constraint.print(os); |
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} |
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/// \} |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_CONSTRAINT_HH |
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