path-optimizer.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
 
// 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
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_CORE_PATH_OPTIMIZER_HH
#define HPP_CORE_PATH_OPTIMIZER_HH
 
#include <boost/date_time/posix_time/ptime.hpp>
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
 
namespace hpp {
namespace core {
 
class HPP_CORE_DLLAPI PathOptimizer {
 public:
  virtual ~PathOptimizer() {};
 
  ProblemConstPtr_t problem() const { return problem_; }
 
  virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path) = 0;
 
  void interrupt() { interrupt_ = true; }
  void maxIterations(const unsigned long int& n);
  void timeOut(const double& timeOut);
 
 protected:
  bool interrupt_;
 
  PathOptimizer(const ProblemConstPtr_t& problem);
 
  PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
 
  void monitorExecution();
 
  void endIteration() { ++monitor_.iteration; }
 
  bool shouldStop() const;
 
  void initFromParameters();
 
 private:
  ProblemConstPtr_t problem_;
 
  size_type maxIterations_;
  double timeOut_;
 
  struct {
    bool enabled;
    size_type iteration;
    boost::posix_time::ptime timeStart;
  } monitor_;
};  // class PathOptimizer;
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_PATH_OPTIMIZER_HH