steering-method.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_STEERING_METHOD_HH
# define HPP_CORE_STEERING_METHOD_HH

# include <hpp/util/debug.hh>

# include <hpp/core/fwd.hh>
# include <hpp/core/path.hh>
# include <hpp/core/projection-error.hh>

namespace hpp {
  namespace core {

    class HPP_CORE_DLLAPI SteeringMethod
    {
    public:
      PathPtr_t operator() (ConfigurationIn_t q1,
                ConfigurationIn_t q2) const
      {
        PathPtr_t path;
        try {
          path = impl_compute (q1, q2);
        } catch (const projection_error& e) {
          hppDout (info, "Could not build path: " << e.what());
        }
        assert (q1 != q2 || path);
    return path;
      }

      PathPtr_t steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
      {
        return this->operator() (q1, q2);
      }

      virtual ~SteeringMethod () {};

      virtual SteeringMethodPtr_t copy () const = 0;

      const Problem& problem() const
      {
        return problem_;
      }


      void constraints (const ConstraintSetPtr_t& constraints)
      {
    constraints_ = constraints;
      }

      const ConstraintSetPtr_t& constraints () const
      {
    return constraints_;
      }

    protected:
      SteeringMethod (const Problem& problem) :
        problem_ (problem), constraints_ (), weak_ ()
      {
      }
      SteeringMethod (const SteeringMethod& other) :
        problem_ (other.problem_), constraints_ (), weak_ ()
    {
      if (other.constraints_) {
        constraints_ = HPP_DYNAMIC_PTR_CAST (ConstraintSet,
                         other.constraints_->copy ());
      }
    }
      virtual PathPtr_t impl_compute (ConfigurationIn_t q1,
                      ConfigurationIn_t q2) const = 0;
      void init (SteeringMethodWkPtr_t weak)
      {
    weak_ = weak;
      }

      const Problem& problem_;

    private:
      ConstraintSetPtr_t constraints_;
      SteeringMethodWkPtr_t weak_;
    }; // class SteeringMethod
  } // namespace core
} // namespace hpp
#endif // HPP_CORE_STEERING_METHOD_HH