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// Copyright (c) 2018, Joseph Mirabel |
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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_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH |
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#define HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH |
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#include <hpp/core/path-optimization/random-shortcut.hh> |
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#include <hpp/manipulation/config.hh> |
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#include <hpp/manipulation/fwd.hh> |
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namespace hpp { |
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namespace manipulation { |
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/// \addtogroup path_optimization |
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/// \{ |
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namespace pathOptimization { |
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HPP_PREDEF_CLASS(RandomShortcut); |
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typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t; |
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class HPP_MANIPULATION_DLLAPI RandomShortcut |
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: public core::pathOptimization::RandomShortcut { |
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public: |
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/// Return shared pointer to new object. |
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static RandomShortcutPtr_t create(const core::ProblemConstPtr_t problem) { |
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return RandomShortcutPtr_t(new RandomShortcut(problem)); |
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} |
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protected: |
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RandomShortcut(const core::ProblemConstPtr_t& problem) |
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: core::pathOptimization::RandomShortcut(problem) {} |
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/// Sample times along currentOpt. |
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/// t1 and t2 will not be on a path whose transition was short. |
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virtual bool shootTimes(const core::PathVectorPtr_t& currentOpt, |
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const value_type& t0, value_type& t1, value_type& t2, |
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const value_type& t3); |
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}; // class RandomShortcut |
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/// \} |
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} // namespace pathOptimization |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH |
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