Directory: | ./ |
---|---|
File: | include/hpp/core/steering-method/hermite.hh |
Date: | 2024-08-10 11:29:48 |
Exec | Total | Coverage | |
---|---|---|---|
Lines: | 23 | 23 | 100.0% |
Branches: | 6 | 12 | 50.0% |
Line | Branch | Exec | Source |
---|---|---|---|
1 | // Copyright (c) 2016 CNRS | ||
2 | // Authors: Joseph Mirabel | ||
3 | // | ||
4 | |||
5 | // Redistribution and use in source and binary forms, with or without | ||
6 | // modification, are permitted provided that the following conditions are | ||
7 | // met: | ||
8 | // | ||
9 | // 1. Redistributions of source code must retain the above copyright | ||
10 | // notice, this list of conditions and the following disclaimer. | ||
11 | // | ||
12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
13 | // notice, this list of conditions and the following disclaimer in the | ||
14 | // documentation and/or other materials provided with the distribution. | ||
15 | // | ||
16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
27 | // DAMAGE. | ||
28 | |||
29 | #ifndef HPP_CORE_STEERING_METHOD_HERMITE_HH | ||
30 | #define HPP_CORE_STEERING_METHOD_HERMITE_HH | ||
31 | |||
32 | #include <hpp/core/fwd.hh> | ||
33 | #include <hpp/core/path/hermite.hh> | ||
34 | #include <hpp/core/problem.hh> | ||
35 | #include <hpp/core/steering-method.hh> | ||
36 | #include <hpp/core/steering-method/fwd.hh> | ||
37 | #include <hpp/core/weighed-distance.hh> | ||
38 | |||
39 | namespace hpp { | ||
40 | namespace core { | ||
41 | namespace steeringMethod { | ||
42 | /// \addtogroup steering_method | ||
43 | /// \{ | ||
44 | |||
45 | /// Steering method that creates path::Hermite instances | ||
46 | /// | ||
47 | class HPP_CORE_DLLAPI Hermite : public SteeringMethod { | ||
48 | public: | ||
49 | /// Create instance and return shared pointer | ||
50 | 2 | static HermitePtr_t create(const ProblemConstPtr_t& problem) { | |
51 | 2 | Hermite* ptr = new Hermite(problem); | |
52 | 2 | HermitePtr_t shPtr(ptr); | |
53 | 2 | ptr->init(shPtr); | |
54 | 2 | return shPtr; | |
55 | } | ||
56 | |||
57 | /// Copy instance and return shared pointer | ||
58 | 4 | static HermitePtr_t createCopy(const HermitePtr_t& other) { | |
59 |
1/2✓ Branch 3 taken 4 times.
✗ Branch 4 not taken.
|
4 | Hermite* ptr = new Hermite(*other); |
60 | 4 | HermitePtr_t shPtr(ptr); | |
61 | 4 | ptr->init(shPtr); | |
62 | 4 | return shPtr; | |
63 | } | ||
64 | |||
65 | /// Copy instance and return shared pointer | ||
66 |
1/2✓ Branch 2 taken 4 times.
✗ Branch 3 not taken.
|
4 | virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); } |
67 | |||
68 | /// create a path between two configurations | ||
69 | 1852568 | virtual PathPtr_t impl_compute(ConfigurationIn_t q1, | |
70 | ConfigurationIn_t q2) const { | ||
71 | path::HermitePtr_t path = | ||
72 |
3/6✓ Branch 3 taken 1852568 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 1852568 times.
✗ Branch 7 not taken.
✓ Branch 12 taken 1852568 times.
✗ Branch 13 not taken.
|
3705136 | path::Hermite::create(problem()->robot(), q1, q2, constraints()); |
73 | |||
74 |
1/2✓ Branch 2 taken 1852568 times.
✗ Branch 3 not taken.
|
1852568 | path->computeHermiteLength(); |
75 | 3705136 | return path; | |
76 | 1852568 | } | |
77 | |||
78 | protected: | ||
79 | /// Constructor with weighed distance | ||
80 | 2 | Hermite(const ProblemConstPtr_t& problem) | |
81 | 2 | : SteeringMethod(problem), weak_() {} | |
82 | |||
83 | /// Copy constructor | ||
84 | 4 | Hermite(const Hermite& other) : SteeringMethod(other), weak_() {} | |
85 | |||
86 | /// Store weak pointer to itself | ||
87 | 6 | void init(HermiteWkPtr_t weak) { | |
88 | 6 | SteeringMethod::init(weak); | |
89 | 6 | weak_ = weak; | |
90 | 6 | } | |
91 | |||
92 | private: | ||
93 | HermiteWkPtr_t weak_; | ||
94 | }; // Hermite | ||
95 | /// \} | ||
96 | } // namespace steeringMethod | ||
97 | } // namespace core | ||
98 | } // namespace hpp | ||
99 | #endif // HPP_CORE_STEERING_METHOD_HERMITE_HH | ||
100 |