steering-method.hh

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//
// Copyright (c) 2025, CNRS
// Authors: Paul Sardin
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
 
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
 
// 2. Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following
// disclaimer in the documentation and/or other materials provided
// with the distribution.
 
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#ifndef PYHPP_CORE_STEERING_METHOD_HH
#define PYHPP_CORE_STEERING_METHOD_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/path.hh>
#include <hpp/core/steering-method.hh>
#include <pyhpp/core/problem.hh>
 
namespace pyhpp {
namespace core {
 
typedef hpp::core::PathPtr_t PathPtr_t;
typedef hpp::core::ConfigurationIn_t ConfigurationIn_t;
typedef hpp::core::ConstraintSetPtr_t ConstraintSetPtr_t;
typedef hpp::core::ProblemConstPtr_t ProblemConstPtr_t;
 
struct SteeringMethod {
  hpp::core::SteeringMethodPtr_t obj;
 
  SteeringMethod(hpp::core::SteeringMethodPtr_t obj) : obj(obj) {}
 
  // Methods from hpp::core::SteeringMethod
  PathPtr_t operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
  PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
  ProblemConstPtr_t problem() const;
  void constraints(const ConstraintSetPtr_t& constraints);
  const ConstraintSetPtr_t& constraints() const;
 
};  // struct SteeringMethod
 
}  // namespace core
}  // namespace pyhpp
 
#endif