| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// Copyright (c) 2015, LAAS-CNRS |
| 2 |
|
|
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
// Redistribution and use in source and binary forms, with or without |
| 6 |
|
|
// modification, are permitted provided that the following conditions are |
| 7 |
|
|
// met: |
| 8 |
|
|
// |
| 9 |
|
|
// 1. Redistributions of source code must retain the above copyright |
| 10 |
|
|
// notice, this list of conditions and the following disclaimer. |
| 11 |
|
|
// |
| 12 |
|
|
// 2. Redistributions in binary form must reproduce the above copyright |
| 13 |
|
|
// notice, this list of conditions and the following disclaimer in the |
| 14 |
|
|
// documentation and/or other materials provided with the distribution. |
| 15 |
|
|
// |
| 16 |
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 17 |
|
|
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 18 |
|
|
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
| 19 |
|
|
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
| 20 |
|
|
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
| 21 |
|
|
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
| 22 |
|
|
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
| 23 |
|
|
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
| 24 |
|
|
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
| 25 |
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| 26 |
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
| 27 |
|
|
// DAMAGE. |
| 28 |
|
|
|
| 29 |
|
|
#ifndef HPP_MANIPULATION_GRAPHOPTIMIZER_HH |
| 30 |
|
|
#define HPP_MANIPULATION_GRAPHOPTIMIZER_HH |
| 31 |
|
|
|
| 32 |
|
|
#include <hpp/core/path-optimizer.hh> |
| 33 |
|
|
#include <hpp/core/problem-solver.hh> // PathOptimizerBuilder_t |
| 34 |
|
|
#include <hpp/manipulation/config.hh> |
| 35 |
|
|
#include <hpp/manipulation/fwd.hh> |
| 36 |
|
|
#include <hpp/manipulation/graph/fwd.hh> |
| 37 |
|
|
|
| 38 |
|
|
namespace hpp { |
| 39 |
|
|
namespace manipulation { |
| 40 |
|
|
using hpp::core::Path; |
| 41 |
|
|
using hpp::core::PathPtr_t; |
| 42 |
|
|
using hpp::core::PathVector; |
| 43 |
|
|
using hpp::core::PathVectorPtr_t; |
| 44 |
|
|
|
| 45 |
|
|
/// \addtogroup path_optimization |
| 46 |
|
|
/// \{ |
| 47 |
|
|
|
| 48 |
|
|
/// Path optimizer for paths created with the constraint graph |
| 49 |
|
|
/// |
| 50 |
|
|
/// This class encapsulates another path optimizer class. This optimizer |
| 51 |
|
|
/// calls the inner optimizer on every subpaths with the same set of |
| 52 |
|
|
/// constraints. |
| 53 |
|
|
class HPP_MANIPULATION_DLLAPI GraphOptimizer : public PathOptimizer { |
| 54 |
|
|
public: |
| 55 |
|
|
typedef core::PathOptimizerBuilder_t PathOptimizerBuilder_t; |
| 56 |
|
|
|
| 57 |
|
|
template <typename TraitsOrInnerType> |
| 58 |
|
|
static GraphOptimizerPtr_t create(const core::ProblemConstPtr_t& problem); |
| 59 |
|
|
|
| 60 |
|
|
virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path); |
| 61 |
|
|
|
| 62 |
|
|
/// Get the encapsulated optimizer |
| 63 |
|
|
const PathOptimizerPtr_t& innerOptimizer() { return pathOptimizer_; } |
| 64 |
|
|
|
| 65 |
|
|
protected: |
| 66 |
|
|
/// Constructor |
| 67 |
|
✗ |
GraphOptimizer(const core::ProblemConstPtr_t& problem, |
| 68 |
|
|
PathOptimizerBuilder_t factory) |
| 69 |
|
✗ |
: PathOptimizer(problem), factory_(factory), pathOptimizer_() {} |
| 70 |
|
|
|
| 71 |
|
|
private: |
| 72 |
|
|
PathOptimizerBuilder_t factory_; |
| 73 |
|
|
|
| 74 |
|
|
/// The encapsulated PathOptimizer |
| 75 |
|
|
PathOptimizerPtr_t pathOptimizer_; |
| 76 |
|
|
}; |
| 77 |
|
|
/// \} |
| 78 |
|
|
|
| 79 |
|
|
/// Member function definition |
| 80 |
|
|
template <typename TraitsOrInnerType> |
| 81 |
|
✗ |
GraphOptimizerPtr_t GraphOptimizer::create( |
| 82 |
|
|
const core::ProblemConstPtr_t& problem) { |
| 83 |
|
|
return GraphOptimizerPtr_t( |
| 84 |
|
✗ |
new GraphOptimizer(problem, TraitsOrInnerType::create)); |
| 85 |
|
|
} |
| 86 |
|
|
|
| 87 |
|
|
} // namespace manipulation |
| 88 |
|
|
} // namespace hpp |
| 89 |
|
|
|
| 90 |
|
|
#endif // HPP_MANIPULATION_GRAPHOPTIMIZER_HH |
| 91 |
|
|
|