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/// Copyright (c) 2017 CNRS |
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/// Authors: stonneau |
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/// |
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/// |
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// This file is part of hpp-rbprm. |
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// hpp-rbprm 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 HPP_RBPRM_CONTACT_REPORT_HH |
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#define HPP_RBPRM_CONTACT_REPORT_HH |
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#include <hpp/rbprm/config.hh> |
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#include <hpp/rbprm/rbprm-state.hh> |
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namespace hpp { |
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namespace rbprm { |
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enum HPP_RBPRM_DLLAPI ContactComputationStatus { |
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NO_CONTACT = 0, |
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UNSTABLE_CONTACT = 1, |
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STABLE_CONTACT = 2, |
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REACHABLE_CONTACT = |
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3 // in current implementation REACHABLE is always STABLE ... we might |
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// need to use mask for futur developpement |
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}; |
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namespace projection { |
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struct HPP_RBPRM_DLLAPI ProjectionReport { |
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ProjectionReport() : success_(false), status_(NO_CONTACT) {} |
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ProjectionReport(const ProjectionReport&); |
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~ProjectionReport() {} |
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bool success_; |
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hpp::rbprm::State result_; |
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ContactComputationStatus status_; |
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}; |
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} // namespace projection |
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namespace contact { |
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struct HPP_RBPRM_DLLAPI ContactReport : public projection::ProjectionReport { |
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ContactReport(); |
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ContactReport(const projection::ProjectionReport&); |
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bool contactMaintained_; |
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bool multipleBreaks_; |
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bool contactCreated_; |
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bool repositionedInPlace_; |
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}; |
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} // namespace contact |
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} // namespace rbprm |
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} // namespace hpp |
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#endif // HPP_RBPRM_ALGORITHM_HH |