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// Copyright (c) 2019, 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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#include <hpp/core/plugin.hh> |
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#include <hpp/core/problem-solver.hh> |
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#include <hpp/manipulation/path-optimization/spline-gradient-based.hh> |
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namespace hpp { |
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namespace manipulation { |
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class SplineGradientBasedPlugin : public core::ProblemSolverPlugin { |
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public: |
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SplineGradientBasedPlugin() |
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: ProblemSolverPlugin("SplineGradientBasedPlugin", "0.0") {} |
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protected: |
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virtual bool impl_initialize(core::ProblemSolverPtr_t ps) { |
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// ps->pathOptimizers.add |
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// ("SplineGradientBased_cannonical1",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, |
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// 1>::createFromCore); ps->pathOptimizers.add |
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// ("SplineGradientBased_cannonical2",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, |
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// 2>::createFromCore); ps->pathOptimizers.add |
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// ("SplineGradientBased_cannonical3",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, |
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// 3>::createFromCore); |
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ps->pathOptimizers.add( |
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"SplineGradientBased_bezier1", |
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pathOptimization::SplineGradientBased<core::path::BernsteinBasis, |
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1>::createFromCore); |
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// ps->pathOptimizers.add |
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// ("SplineGradientBased_bezier2",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, |
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// 2>::createFromCore); |
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ps->pathOptimizers.add( |
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"SplineGradientBased_bezier3", |
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pathOptimization::SplineGradientBased<core::path::BernsteinBasis, |
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3>::createFromCore); |
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return true; |
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} |
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}; |
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} // namespace manipulation |
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} // namespace hpp |
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HPP_CORE_DEFINE_PLUGIN(hpp::manipulation::SplineGradientBasedPlugin) |
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