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/// Copyright (c) 2015 CNRS |
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/// Authors: Joseph Mirabel |
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/// |
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/// |
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// This file is part of hpp-wholebody-step. |
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// hpp-wholebody-step-planner is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// hpp-wholebody-step-planner is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// hpp-wholebody-step-planner. If not, see |
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// <http://www.gnu.org/licenses/>. |
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#ifndef PP_RBPRM_TIME_DEPENDANT_HH |
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#define PP_RBPRM_TIME_DEPENDANT_HH |
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#include <hpp/constraints/implicit.hh> |
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#include <hpp/rbprm/config.hh> |
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#include <vector> |
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namespace hpp { |
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namespace rbprm { |
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namespace interpolation { |
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/// Time varying right hand side of constraint |
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struct RightHandSideFunctor { |
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/// Compute and set right hand side of constraint |
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/// \param eq Implicit constraint, |
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/// \param input real valued parameter between 0 and 1. |
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virtual void operator()(constraints::ImplicitPtr_t eq, |
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const constraints::value_type& input, |
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pinocchio::ConfigurationOut_t conf) const = 0; |
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}; |
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typedef shared_ptr<const RightHandSideFunctor> RightHandSideFunctorPtr_t; |
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/// Set time varying right hand side of a constraint (constraints::Implicit) |
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/// |
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/// This class stores |
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/// \li an instance of implicit constraint and |
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/// \li an instance of time varying right hand side (RightHandSideFunctor) |
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/// |
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/// Call to operator () set the right hand side of the constraint to the |
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/// value at a given time. |
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/// \note Parameterization may be normalized between 0 and 1 |
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/// (see interpolation::funEvaluator for an example). |
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struct TimeDependant { |
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/// Set time varying right hand side |
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/// \param s time value in interval [0,1], |
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void operator()(const constraints::value_type s, |
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pinocchio::ConfigurationOut_t conf) const { |
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(*rhsFunc_)(eq_, s, conf); |
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} |
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/// Constructor |
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/// \param eq implicit constraint, |
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/// \param rhs time-varying right hand side. |
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TimeDependant(const constraints::ImplicitPtr_t& eq, |
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const RightHandSideFunctorPtr_t rhs) |
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: eq_(eq), rhsFunc_(rhs) {} |
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TimeDependant(const TimeDependant& other) |
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: eq_(other.eq_), rhsFunc_(other.rhsFunc_) {} |
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constraints::ImplicitPtr_t eq_; |
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RightHandSideFunctorPtr_t rhsFunc_; |
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}; // class TimeDependant |
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typedef std::vector<TimeDependant> T_TimeDependant; |
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typedef T_TimeDependant::const_iterator CIT_TimeDependant; |
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} // namespace interpolation |
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} // namespace rbprm |
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} // namespace hpp |
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#endif // PP_RBPRM_TIME_DEPENDANT_HH |