hpp-python: include/pyhpp/core/steering-method.hh Source File

hpp-python 9.0.2 python bindings for HPP, based on boost python |

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steering-method.hh
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1//
2// Copyright (c) 2025, CNRS
3// Authors: Paul Sardin
4//
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions
7// are met:
8
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11
12// 2. Redistributions in binary form must reproduce the above
13// copyright notice, this list of conditions and the following
14// disclaimer in the documentation and/or other materials provided
15// with the distribution.
16
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
20// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
21// COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
22// INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
23// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
25// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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27// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
28// OF THE POSSIBILITY OF SUCH DAMAGE.
29
30#ifndef PYHPP_CORE_STEERING_METHOD_HH
31#define PYHPP_CORE_STEERING_METHOD_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/path.hh>
35#include <hpp/core/steering-method.hh>
36#include <pyhpp/core/problem.hh>
37
38namespace pyhpp {
39namespace core {
40
41 typedef hpp::core::PathPtr_t PathPtr_t;
42typedef hpp::core::ConfigurationIn_t ConfigurationIn_t;
43 typedef hpp::core::ConstraintSetPtr_t ConstraintSetPtr_t;
44typedef hpp::core::ProblemConstPtr_t ProblemConstPtr_t;
45
46 struct SteeringMethod {
47 hpp::core::SteeringMethodPtr_t obj;
48
49 SteeringMethod(hpp::core::SteeringMethodPtr_t obj) : obj(obj) {}
50
51 // Methods from hpp::core::SteeringMethod
52 PathPtr_t operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
53 PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
54 ProblemConstPtr_t problem() const;
55 void constraints(const ConstraintSetPtr_t& constraints);
56 const ConstraintSetPtr_t& constraints() const;
57
58}; // struct SteeringMethod
59
60} // namespace core
61} // namespace pyhpp
62
63#endif
config.hh
problem.hh
hpp::core::SteeringMethodPtr_t
shared_ptr< SteeringMethod > SteeringMethodPtr_t
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
hpp::core::ConstraintSetPtr_t
shared_ptr< ConstraintSet > ConstraintSetPtr_t
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
pyhpp::core
Definition fwd.hh:36
pyhpp
Definition fwd.hh:35
path.hh
pyhpp::core::SteeringMethod::steer
PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const
pyhpp::core::SteeringMethod::constraints
void constraints(const ConstraintSetPtr_t &constraints)
pyhpp::core::SteeringMethod::operator()
PathPtr_t operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const
pyhpp::core::SteeringMethod::obj
hpp::core::SteeringMethodPtr_t obj
Definition steering-method.hh:47
pyhpp::core::SteeringMethod::SteeringMethod
SteeringMethod(hpp::core::SteeringMethodPtr_t obj)
Definition steering-method.hh:49
pyhpp::core::SteeringMethod::constraints
const ConstraintSetPtr_t & constraints() const
pyhpp::core::SteeringMethod::problem
ProblemConstPtr_t problem() const