spline.hh

Go to the documentation of this file.

//
// Copyright (c) 2017 CNRS
// Authors: 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
// 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
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_CORE_STEERING_METHOD_SPLINE_HH
#define HPP_CORE_STEERING_METHOD_SPLINE_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
#include <hpp/core/steering-method.hh>
#include <hpp/util/debug.hh>
#include <hpp/util/pointer.hh>
 
namespace hpp {
namespace core {
namespace steeringMethod {
 
template <int _PolynomeBasis, int _SplineOrder>
class HPP_CORE_DLLAPI Spline : public SteeringMethod {
 public:
  enum { PolynomeBasis = _PolynomeBasis, SplineOrder = _SplineOrder };
  typedef path::Spline<PolynomeBasis, SplineOrder> SplinePath;
  typedef typename SplinePath::Ptr_t SplinePathPtr_t;
 
  typedef shared_ptr<Spline> Ptr_t;
  typedef weak_ptr<Spline> WkPtr_t;
 
  static Ptr_t create(const ProblemConstPtr_t& problem) {
    Spline* ptr = new Spline(problem);
    Ptr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static Ptr_t createCopy(const Ptr_t& other) {
    Spline* ptr = new Spline(*other);
    Ptr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); }
 
  virtual PathPtr_t impl_compute(ConfigurationIn_t q1,
                                 ConfigurationIn_t q2) const;
 
  PathPtr_t steer(ConfigurationIn_t q1, std::vector<int> order1,
                  matrixIn_t derivatives1, ConfigurationIn_t q2,
                  std::vector<int> order2, matrixIn_t derivatives2,
                  value_type length = -1) const;
 
 protected:
  Spline(const ProblemConstPtr_t& problem);
 
  Spline(const Spline& other);
 
  void init(WkPtr_t weak) {
    SteeringMethod::init(weak);
    weak_ = weak;
  }
 
 private:
  template <typename Derived>
  PathPtr_t impl_compute(ConfigurationIn_t q1, std::vector<int> order1,
                         const Eigen::MatrixBase<Derived>& derivatives1,
                         ConfigurationIn_t q2, std::vector<int> order2,
                         const Eigen::MatrixBase<Derived>& derivatives2,
                         value_type length) const;
 
  DeviceWkPtr_t device_;
  WkPtr_t weak_;
};  // Spline
}  // namespace steeringMethod
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_STEERING_METHOD_REEDS_SHEPP_HH