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// Copyright (c) 2014, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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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_PATHPROJECTOR_DICHOTOMY_HH |
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#define HPP_CORE_PATHPROJECTOR_DICHOTOMY_HH |
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#include <hpp/core/path-projector.hh> |
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#include "hpp/core/problem.hh" |
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namespace hpp { |
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namespace core { |
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namespace pathProjector { |
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class HPP_CORE_DLLAPI Dichotomy : public PathProjector { |
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public: |
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typedef hpp::core::StraightPath StraightPath; |
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typedef hpp::core::StraightPathPtr_t StraightPathPtr_t; |
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static DichotomyPtr_t create(const DistancePtr_t& distance, |
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const SteeringMethodPtr_t& steeringMethod, |
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value_type maxPathLength) { |
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return DichotomyPtr_t( |
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new Dichotomy(distance, steeringMethod, maxPathLength)); |
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} |
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static DichotomyPtr_t create(const ProblemConstPtr_t& problem, |
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value_type maxPathLength) { |
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return create(problem->distance(), problem->steeringMethod(), |
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maxPathLength); |
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} |
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protected: |
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bool impl_apply(const PathPtr_t& path, PathPtr_t& projection) const; |
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Dichotomy(const DistancePtr_t& distance, |
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const SteeringMethodPtr_t& steeringMethod, |
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value_type maxPathLength); |
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bool applyToStraightPath(const StraightPathPtr_t& path, |
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PathPtr_t& projection) const; |
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private: |
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value_type maxPathLength_; |
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}; |
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} // namespace pathProjector |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_PATHPROJECTOR_DICHOTOMY_HH |
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