progressive.hh

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//
// Copyright (c) 2014, 2015, 2016, 2017 CNRS
// Authors: Florent Lamiraux, Joseph Mirabel
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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#ifndef HPP_CORE_CONTINUOUS_VALIDATION_PROGRESSIVE_HH
#define HPP_CORE_CONTINUOUS_VALIDATION_PROGRESSIVE_HH
 
#include <hpp/core/continuous-validation.hh>
 
namespace hpp {
namespace core {
namespace continuousValidation {
 
class HPP_CORE_DLLAPI Progressive : public ContinuousValidation {
 public:
  static ProgressivePtr_t create(const DevicePtr_t& robot,
                                 const value_type& tolerance);
  virtual ~Progressive();
 
 protected:
  Progressive(const DevicePtr_t& robot, const value_type& tolerance);
  void init(const ProgressiveWkPtr_t weak);
 
 private:
  // Weak pointer to itself
  ProgressiveWkPtr_t weak_;
  bool validateStraightPath(IntervalValidations_t& bodyPairCollisions,
                            const PathPtr_t& path, bool reverse,
                            PathPtr_t& validPart,
                            PathValidationReportPtr_t& report);
  template <bool reverse>
  bool validateStraightPath(IntervalValidations_t& bodyPairCollisions,
                            const PathPtr_t& path, PathPtr_t& validPart,
                            PathValidationReportPtr_t& report);
};  // class Progressive
}  // namespace continuousValidation
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_CONTINUOUS_VALIDATION_PROGRESSIVE_HH