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// Copyright (c) 2015 CNRS |
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// Authors: Joseph Mirabel |
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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_MANIPULATION_CONSTRAINT_SET_HH |
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#define HPP_MANIPULATION_CONSTRAINT_SET_HH |
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#include <hpp/core/constraint-set.hh> |
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#include <hpp/manipulation/config.hh> |
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#include <hpp/manipulation/fwd.hh> |
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#include <hpp/manipulation/graph/fwd.hh> |
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namespace hpp { |
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namespace manipulation { |
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/// \addtogroup constraints |
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/// \{ |
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/// a core::ConstraintSet remembering which edge created it |
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class HPP_MANIPULATION_DLLAPI ConstraintSet : public core::ConstraintSet { |
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public: |
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typedef core::ConstraintSet Parent_t; |
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/// Return shared pointer to new object |
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static ConstraintSetPtr_t create(const DevicePtr_t& robot, |
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const std::string& name); |
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/// Return shared pointer to new object |
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static ConstraintSetPtr_t createCopy(const ConstraintSetPtr_t& cs); |
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/// return shared pointer to copy |
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virtual ConstraintPtr_t copy() const; |
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void edge(graph::EdgePtr_t edge); |
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graph::EdgePtr_t edge() const; |
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protected: |
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/// Constructor |
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ConstraintSet(const DevicePtr_t& robot, const std::string& name); |
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/// Copy constructor |
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ConstraintSet(const ConstraintSet& other); |
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/// Store weak pointer to itself. |
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void init(const ConstraintSetPtr_t& self); |
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virtual std::ostream& print(std::ostream& os) const; |
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private: |
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graph::EdgePtr_t edge_; |
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ConstraintSetWkPtr_t weak_; |
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✗ |
ConstraintSet() {} |
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HPP_SERIALIZABLE(); |
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}; // class ConstraintSet |
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struct ConstraintAndComplement_t { |
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ImplicitPtr_t constraint; |
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ImplicitPtr_t complement; |
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ImplicitPtr_t both; |
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ConstraintAndComplement_t(const ImplicitPtr_t& constr, |
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const ImplicitPtr_t& comp, const ImplicitPtr_t& b) |
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: constraint(constr), complement(comp), both(b) {} |
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}; |
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typedef std::vector<ConstraintAndComplement_t> ConstraintsAndComplements_t; |
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/// \} |
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} // namespace manipulation |
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} // namespace hpp |
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BOOST_CLASS_EXPORT_KEY(hpp::manipulation::ConstraintSet) |
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#endif // HPP_MANIPULATION_CONSTRAINT_SET_HH |
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