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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_WEIGHED_DISTANCE_HH |
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#define HPP_CORE_WEIGHED_DISTANCE_HH |
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#include <hpp/core/distance.hh> |
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namespace hpp { |
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namespace core { |
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/// \addtogroup steering_method |
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/// \{ |
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/// Weighed distance between configurations |
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/// |
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/// Euclidean distance between configurations seen as vectors. |
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/// Each degree of freedom is weighed by a positive value. |
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class HPP_CORE_DLLAPI WeighedDistance : public Distance { |
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public: |
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static WeighedDistancePtr_t createFromProblem( |
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const ProblemConstPtr_t& problem); |
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static WeighedDistancePtr_t create(const DevicePtr_t& robot); |
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static WeighedDistancePtr_t createWithWeight(const DevicePtr_t& robot, |
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const vector_t& weights); |
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static WeighedDistancePtr_t createCopy(const WeighedDistancePtr_t& distance); |
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virtual DistancePtr_t clone() const; |
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/// Get weight of joint at given rank |
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/// \param rank rank of the joint in robot joint vector |
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value_type getWeight(size_type rank) const; |
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/// Set weight of joint at given rank |
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/// \param rank rank of the joint in robot joint vector |
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void setWeight(size_type rank, value_type weight); |
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/// Get weights |
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const vector_t& weights() const; |
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/// Set weights |
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void weights(const vector_t& ws); |
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/// Get size of weight vector |
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size_type size() const { return weights_.size(); } |
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/// Get robot |
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const DevicePtr_t& robot() const { return robot_; } |
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protected: |
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WeighedDistance(const ProblemConstPtr_t& problem); |
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WeighedDistance(const DevicePtr_t& robot); |
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WeighedDistance(const DevicePtr_t& robot, const vector_t& weights); |
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WeighedDistance(const WeighedDistance& distance); |
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void init(WeighedDistanceWkPtr_t self); |
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/// Derived class should implement this function |
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virtual value_type impl_distance(ConfigurationIn_t q1, |
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ConfigurationIn_t q2) const; |
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/// For serialization only. |
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WeighedDistance() {} |
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private: |
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void computeWeights(); |
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DevicePtr_t robot_; |
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vector_t weights_; |
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WeighedDistanceWkPtr_t weak_; |
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HPP_SERIALIZABLE(); |
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}; // class WeighedDistance |
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/// \} |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_WEIGHED_DISTANCE_HH |
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