| Directory: | ./ |
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| File: | include/hpp/core/distance.hh |
| Date: | 2024-12-13 16:14:03 |
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| 1 | // | ||
| 2 | // Copyright (c) 2014 CNRS | ||
| 3 | // Authors: Florent Lamiraux | ||
| 4 | // | ||
| 5 | |||
| 6 | // Redistribution and use in source and binary forms, with or without | ||
| 7 | // modification, are permitted provided that the following conditions are | ||
| 8 | // met: | ||
| 9 | // | ||
| 10 | // 1. Redistributions of source code must retain the above copyright | ||
| 11 | // notice, this list of conditions and the following disclaimer. | ||
| 12 | // | ||
| 13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 14 | // notice, this list of conditions and the following disclaimer in the | ||
| 15 | // documentation and/or other materials provided with the distribution. | ||
| 16 | // | ||
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 28 | // DAMAGE. | ||
| 29 | |||
| 30 | #ifndef HPP_CORE_DISTANCE_HH | ||
| 31 | #define HPP_CORE_DISTANCE_HH | ||
| 32 | |||
| 33 | #include <hpp/core/config.hh> | ||
| 34 | #include <hpp/core/fwd.hh> | ||
| 35 | #include <hpp/core/node.hh> | ||
| 36 | #include <hpp/pinocchio/fwd.hh> | ||
| 37 | #include <hpp/util/serialization-fwd.hh> | ||
| 38 | |||
| 39 | namespace hpp { | ||
| 40 | namespace core { | ||
| 41 | /// \addtogroup steering_method | ||
| 42 | /// \{ | ||
| 43 | |||
| 44 | /// Abstract class for distance between configurations | ||
| 45 | class HPP_CORE_DLLAPI Distance { | ||
| 46 | public: | ||
| 47 | 18470 | value_type operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const { | |
| 48 |
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18470 | return impl_distance(q1, q2); |
| 49 | } | ||
| 50 | |||
| 51 | ✗ | value_type operator()(NodePtr_t n1, NodePtr_t n2) const { | |
| 52 | ✗ | return impl_distance(n1, n2); | |
| 53 | } | ||
| 54 | |||
| 55 | value_type compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const { | ||
| 56 | return impl_distance(q1, q2); | ||
| 57 | } | ||
| 58 | |||
| 59 | value_type compute(NodePtr_t n1, NodePtr_t n2) const { | ||
| 60 | return impl_distance(n1, n2); | ||
| 61 | } | ||
| 62 | |||
| 63 | virtual DistancePtr_t clone() const = 0; | ||
| 64 | |||
| 65 | 96 | virtual ~Distance() {}; | |
| 66 | |||
| 67 | protected: | ||
| 68 | 58 | Distance() {} | |
| 69 | /// Derived class should implement this function | ||
| 70 | virtual value_type impl_distance(ConfigurationIn_t q1, | ||
| 71 | ConfigurationIn_t q2) const = 0; | ||
| 72 | ✗ | virtual value_type impl_distance(NodePtr_t n1, NodePtr_t n2) const { | |
| 73 | ✗ | return impl_distance(n1->configuration(), n2->configuration()); | |
| 74 | } | ||
| 75 | |||
| 76 | HPP_SERIALIZABLE(); | ||
| 77 | }; // class Distance | ||
| 78 | /// \} | ||
| 79 | } // namespace core | ||
| 80 | } // namespace hpp | ||
| 81 | #endif // HPP_CORE_DISTANCE_HH | ||
| 82 |