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// |
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// Copyright (c) 2016 CNRS |
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// Author: Joseph Mirabel |
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// |
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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/pinocchio/liegroup.hh> |
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#include <pinocchio/algorithm/joint-configuration.hpp> |
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namespace hpp { |
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namespace pinocchio { |
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struct SetBoundStep |
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: public ::pinocchio::fusion::JointUnaryVisitorBase<SetBoundStep> { |
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typedef boost::fusion::vector<ConfigurationIn_t, Configuration_t&> ArgsType; |
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template <typename JointModel> |
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static void algo(const ::pinocchio::JointModelBase<JointModel>& jmodel, |
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ConfigurationIn_t bounds, Configuration_t& out) { |
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::hpp::pinocchio::RnxSOnLieGroupMap::template operation< |
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JointModel>::type ::setBound(bounds, jmodel.jointConfigSelector(out)); |
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} |
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}; |
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} // namespace pinocchio |
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} // namespace hpp |
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