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()); |
44 |
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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 |