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File: | include/hpp/core/distance.hh |
Date: | 2024-08-10 11:29:48 |
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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 | 18453 | value_type operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const { | |
48 |
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18453 | 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 |