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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_DISTANCE_HH |
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#define HPP_MANIPULATION_DISTANCE_HH |
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#include <hpp/core/weighed-distance.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 steering_method |
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/// \{ |
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/// Class for distance between configurations |
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class HPP_MANIPULATION_DLLAPI WeighedDistance : public core::WeighedDistance { |
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public: |
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static WeighedDistancePtr_t create(const DevicePtr_t& robot, |
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const graph::GraphPtr_t& graph); |
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static WeighedDistancePtr_t createCopy(const WeighedDistancePtr_t& distance); |
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virtual core::DistancePtr_t clone() const; |
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/// Set the graph of constraints |
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void constraintGraph(const graph::GraphPtr_t& graph) { graph_ = graph; } |
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/// Get the graph of constraints |
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graph::GraphPtr_t constraintGraph() const { return graph_; } |
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protected: |
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WeighedDistance(const DevicePtr_t& robot, const graph::GraphPtr_t graph); |
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WeighedDistance(const WeighedDistance& distance); |
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/// Derived class should implement this function |
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virtual value_type impl_distance(ConfigurationIn_t q1, |
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ConfigurationIn_t q2) const; |
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virtual value_type impl_distance(core::NodePtr_t n1, |
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core::NodePtr_t n2) const; |
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void init(WeighedDistanceWkPtr_t self); |
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private: |
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graph::GraphPtr_t graph_; |
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WeighedDistanceWkPtr_t weak_; |
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WeighedDistance() {} |
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HPP_SERIALIZABLE(); |
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}; // class Distance |
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/// \} |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_DISTANCE_HH |
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