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// Copyright (c) 2014, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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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_STEERING_METHOD_GRAPH_HH |
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#define HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH |
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#include <hpp/core/problem-solver.hh> // SteeringMethodBuilder_t |
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#include <hpp/core/steering-method.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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#include <hpp/manipulation/steering-method/fwd.hh> |
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namespace hpp { |
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namespace manipulation { |
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/// \addtogroup steering_method |
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/// \{ |
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class HPP_MANIPULATION_DLLAPI SteeringMethod : public core::SteeringMethod { |
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public: |
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const core::SteeringMethodPtr_t& innerSteeringMethod() const { |
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return steeringMethod_; |
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} |
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void innerSteeringMethod(const core::SteeringMethodPtr_t& sm) { |
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steeringMethod_ = sm; |
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} |
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protected: |
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/// Constructor |
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SteeringMethod(const ProblemConstPtr_t& problem); |
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/// Copy constructor |
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SteeringMethod(const SteeringMethod& other); |
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void init(SteeringMethodWkPtr_t weak) { core::SteeringMethod::init(weak); } |
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/// A pointer to the manipulation problem |
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ProblemConstPtr_t problem_; |
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/// The encapsulated steering method |
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core::SteeringMethodPtr_t steeringMethod_; |
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}; |
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namespace steeringMethod { |
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using core::PathPtr_t; |
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class HPP_MANIPULATION_DLLAPI Graph : public SteeringMethod { |
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typedef core::SteeringMethodBuilder_t SteeringMethodBuilder_t; |
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public: |
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/// Create instance and return shared pointer |
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/// \warning core::Problem will be casted to Problem |
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static GraphPtr_t create(const core::ProblemConstPtr_t& problem); |
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template <typename T> |
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static GraphPtr_t create(const core::ProblemConstPtr_t& problem); |
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/// Create copy and return shared pointer |
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static GraphPtr_t createCopy(const GraphPtr_t& other); |
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/// Copy instance and return shared pointer |
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virtual core::SteeringMethodPtr_t copy() const { |
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return createCopy(weak_.lock()); |
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} |
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protected: |
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/// Constructor |
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Graph(const ProblemConstPtr_t& problem); |
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/// Copy constructor |
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Graph(const Graph&); |
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virtual PathPtr_t impl_compute(ConfigurationIn_t q1, |
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ConfigurationIn_t q2) const; |
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void init(GraphWkPtr_t weak) { |
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SteeringMethod::init(weak); |
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weak_ = weak; |
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} |
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private: |
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/// Weak pointer to itself |
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GraphWkPtr_t weak_; |
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}; |
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template <typename T> |
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GraphPtr_t Graph::create(const core::ProblemConstPtr_t& problem) { |
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GraphPtr_t gsm = Graph::create(problem); |
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gsm->innerSteeringMethod(T::create(problem)); |
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return gsm; |
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} |
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} // namespace steeringMethod |
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/// \} |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH |
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