path-projector.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
// 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_PATHPROJECTOR_HH
# define HPP_CORE_PATHPROJECTOR_HH

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

namespace hpp {
  namespace core {
    class HPP_CORE_DLLAPI PathProjector
    {
      public:
        typedef hpp::core::Path Path;
        typedef hpp::core::PathPtr_t PathPtr_t;
        typedef hpp::core::PathVector PathVector;
        typedef hpp::core::PathVectorPtr_t PathVectorPtr_t;

        virtual ~PathProjector ();

        bool apply (const PathPtr_t& path, PathPtr_t& projection) const;

      protected:
        PathProjector (const DistancePtr_t& distance,
               const SteeringMethodPtr_t& steeringMethod,
               bool keepSteeringMethodConstraints = false);

        virtual bool impl_apply (const PathPtr_t& path,
                 PathPtr_t& projection) const = 0;

        value_type d (ConfigurationIn_t q1, ConfigurationIn_t q2) const;
    PathPtr_t steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const;
    SteeringMethodPtr_t steeringMethod_;
      private:
        DistancePtr_t distance_;
    };
  } // namespace core
} // namespace hpp

#endif // HPP_CORE_PATHPROJECTOR_HH