hpp-manipulation  4.12.0
Classes for manipulation planning.
random-shortcut.hh
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1 // Copyright (c) 2018, Joseph Mirabel
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4 // This file is part of hpp-manipulation.
5 // hpp-manipulation is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 //
10 // hpp-manipulation is distributed in the hope that it will be
11 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
12 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 // General Lesser Public License for more details. You should have
14 // received a copy of the GNU Lesser General Public License along with
15 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
16 
17 #ifndef HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
18 # define HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
19 
20 #include <hpp/core/path-optimization/random-shortcut.hh>
21 
22 #include <hpp/manipulation/fwd.hh>
24 
25 namespace hpp {
26  namespace manipulation {
29  namespace pathOptimization {
30  HPP_PREDEF_CLASS (RandomShortcut);
31  typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t;
32 
34  public core::pathOptimization::RandomShortcut
35  {
36  public:
38  static RandomShortcutPtr_t create
39  (const core::ProblemConstPtr_t problem)
40  {
41  return RandomShortcutPtr_t (new RandomShortcut (problem));
42  }
43 
44  protected:
46  : core::pathOptimization::RandomShortcut (problem)
47  {}
48 
51  virtual bool shootTimes (const core::PathVectorPtr_t& currentOpt,
52  const value_type& t0,
53  value_type& t1,
54  value_type& t2,
55  const value_type& t3);
56  }; // class RandomShortcut
58  } // namespace pathOptimization
59  } // namespace manipulation
60 } // namespace hpp
61 
62 #endif // HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
Definition: main.hh:1
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
core::value_type value_type
Definition: fwd.hh:82
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
RandomShortcut(const core::ProblemConstPtr_t &problem)
Definition: random-shortcut.hh:45
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition: random-shortcut.hh:31