| Directory: | ./ |
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| File: | src/steering-method/straight.cc |
| Date: | 2024-08-10 11:29:48 |
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| 1 | // Copyright (c) 2019 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 | #include <hpp/core/config-projector.hh> | ||
| 30 | #include <hpp/core/distance.hh> | ||
| 31 | #include <hpp/core/problem.hh> | ||
| 32 | #include <hpp/core/steering-method/straight.hh> | ||
| 33 | #include <hpp/core/straight-path.hh> | ||
| 34 | |||
| 35 | namespace hpp { | ||
| 36 | namespace core { | ||
| 37 | namespace steeringMethod { | ||
| 38 | 4102 | PathPtr_t Straight::impl_compute(ConfigurationIn_t q1, | |
| 39 | ConfigurationIn_t q2) const { | ||
| 40 |
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4102 | value_type length = (*problem()->distance())(q1, q2); |
| 41 | 4102 | ConstraintSetPtr_t c; | |
| 42 |
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4102 | if (constraints() && constraints()->configProjector()) { |
| 43 |
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64 | c = HPP_STATIC_PTR_CAST(ConstraintSet, constraints()->copy()); |
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64 | c->configProjector()->rightHandSideFromConfig(q1); |
| 45 |
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64 | c->configProjector()->lineSearchType(ConfigProjector::Backtracking); |
| 46 | } else { | ||
| 47 | 4038 | c = constraints(); | |
| 48 | } | ||
| 49 |
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8204 | PathPtr_t path = StraightPath::create(problem()->robot(), q1, q2, length, c); |
| 50 | 8204 | return path; | |
| 51 | 4102 | } | |
| 52 | } // namespace steeringMethod | ||
| 53 | } // namespace core | ||
| 54 | } // namespace hpp | ||
| 55 |