constraint.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
// This file is part of hpp-core
// hpp-core is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-core is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-core  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_CORE_CONSTRAINT_HH
# define HPP_CORE_CONSTRAINT_HH

# include <ostream>
# include <hpp/core/config.hh>
# include <hpp/core/fwd.hh>

namespace hpp {
  namespace core {

    class HPP_CORE_DLLAPI Constraint
    {
    public:
      bool apply (ConfigurationOut_t configuration);
      const std::string& name () const
      {
    return name_;
      }

      virtual bool isSatisfied (ConfigurationIn_t config) = 0;

      virtual bool isSatisfied (ConfigurationIn_t config, vector_t& error) = 0;

      virtual ConstraintPtr_t copy () const = 0;

      virtual ~Constraint () {};

    protected:
      virtual bool impl_compute (ConfigurationOut_t configuration) = 0;
      Constraint (const std::string& name) : name_ (name), weak_ ()
    {
    }
      Constraint (const Constraint& constraint) : name_ (constraint.name_),
    weak_ ()
    {
    }
      void init (const ConstraintPtr_t& self)
      {
    weak_ = self;
      }
    private:
      virtual std::ostream& print (std::ostream& os) const = 0;
      virtual void addToConstraintSet (const ConstraintSetPtr_t& constraintSet);

      virtual void addLockedJoint (const LockedJointPtr_t&)
      {
      }

      std::string name_;
      ConstraintWkPtr_t weak_;
      friend class ConstraintSet;
      friend class constraints::LockedJoint;
      friend class ConfigProjector;
      friend std::ostream& operator<< (std::ostream& os, const Constraint&);
    }; // class Constraint
    inline std::ostream& operator<< (std::ostream& os,
                     const Constraint& constraint)
    {
      return constraint.print (os);
    }
  } // namespace core
} // namespace core
#endif // HPP_CORE_CONSTRAINT_HH