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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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#ifndef HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_HH |
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#define HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_HH |
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#include <hpp/core/configuration-shooter.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <sstream> |
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namespace hpp { |
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namespace core { |
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namespace configurationShooter { |
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/// \addtogroup configuration_sampling |
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/// \{ |
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/// Uniformly sample with bounds of degrees of freedom. |
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class HPP_CORE_DLLAPI Uniform : public ConfigurationShooter { |
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public: |
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static UniformPtr_t create(const DevicePtr_t& robot) { |
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Uniform* ptr = new Uniform(robot); |
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UniformPtr_t shPtr(ptr); |
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ptr->init(shPtr); |
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return shPtr; |
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} |
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void sampleExtraDOF(bool sampleExtraDOF) { sampleExtraDOF_ = sampleExtraDOF; } |
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protected: |
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/// Uniformly sample configuration space |
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/// |
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/// Note that translation joints have to be bounded. |
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Uniform(const DevicePtr_t& robot) : robot_(robot), sampleExtraDOF_(true) {} |
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void init(const UniformPtr_t& self) { |
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ConfigurationShooter::init(self); |
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weak_ = self; |
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} |
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virtual void impl_shoot(Configuration_t& q) const; |
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private: |
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DevicePtr_t robot_; |
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bool sampleExtraDOF_; |
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UniformWkPtr_t weak_; |
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}; // class Uniform |
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/// \} |
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} // namespace configurationShooter |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_HH |
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