19 #ifndef HPP_CORE_CONSTRAINT_HH
20 # define HPP_CORE_CONSTRAINT_HH
25 # include <hpp/util/serialization-fwd.hh>
46 const std::string&
name ()
const
72 Constraint (
const std::string& name) : name_ (name), weak_ ()
85 virtual std::ostream& print (std::ostream& os)
const = 0;
92 ConstraintWkPtr_t weak_;
104 return constraint.print (os);
Definition: config-projector.hh:58
Definition: constraint-set.hh:37
Definition: constraint.hh:39
virtual bool isSatisfied(ConfigurationIn_t config, vector_t &error)=0
virtual bool impl_compute(ConfigurationOut_t configuration)=0
User defined implementation of the constraint.
Constraint(const Constraint &constraint)
Definition: constraint.hh:75
bool apply(ConfigurationOut_t configuration)
void init(const ConstraintPtr_t &self)
Store shared pointer to itself.
Definition: constraint.hh:80
virtual bool isSatisfied(ConfigurationIn_t config)=0
Constraint(const std::string &name)
Constructor.
Definition: constraint.hh:72
virtual ~Constraint()
Definition: constraint.hh:66
virtual ConstraintPtr_t copy() const =0
return shared pointer to copy
const std::string & name() const
Get name of constraint.
Definition: constraint.hh:46
#define HPP_CORE_DLLAPI
Definition: config.hh:64
std::ostream & operator<<(std::ostream &os, const Constraint &constraint)
Definition: constraint.hh:101
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:109
constraints::LockedJoint LockedJoint
Definition: fwd.hh:141
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:142
Definition: bi-rrt-planner.hh:24