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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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#include <hpp/core/path-optimizer.hh> |
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#include <hpp/core/plan-and-optimize.hh> |
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namespace hpp { |
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namespace core { |
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void PlanAndOptimize::oneStep() { pathPlanner_->oneStep(); } |
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void PlanAndOptimize::startSolve() { pathPlanner_->startSolve(); } |
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PathVectorPtr_t PlanAndOptimize::finishSolve(const PathVectorPtr_t& path) { |
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PathVectorPtr_t result = path; |
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for (Optimizers_t::iterator itOpt = optimizers_.begin(); |
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itOpt != optimizers_.end(); ++itOpt) { |
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result = (*itOpt)->optimize(result); |
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} |
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return result; |
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} |
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void PlanAndOptimize::addPathOptimizer(const PathOptimizerPtr_t& optimizer) { |
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optimizers_.push_back(optimizer); |
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} |
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PlanAndOptimizePtr_t PlanAndOptimize::create( |
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const PathPlannerPtr_t& pathPlanner) { |
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PlanAndOptimize* ptr = new PlanAndOptimize(pathPlanner); |
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return PlanAndOptimizePtr_t(ptr); |
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} |
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PlanAndOptimize::PlanAndOptimize(const PathPlannerPtr_t& pathPlanner) |
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: PathPlanner(pathPlanner->problem(), pathPlanner->roadmap()), |
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pathPlanner_(pathPlanner), |
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optimizers_() {} |
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} // namespace core |
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} // namespace hpp |
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