spline-gradient-based.hh

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// Copyright (c) 2017, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// 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.
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// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef HPP_MANIPULATION_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH
#define HPP_MANIPULATION_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH
 
#include <hpp/core/path-optimization/spline-gradient-based.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/problem.hh>
 
namespace hpp {
namespace manipulation {
namespace pathOptimization {
template <int _PolynomeBasis, int _SplineOrder>
class HPP_MANIPULATION_DLLAPI SplineGradientBased
    : public core::pathOptimization::SplineGradientBased<_PolynomeBasis,
                                                         _SplineOrder> {
 public:
  enum { PolynomeBasis = _PolynomeBasis, SplineOrder = _SplineOrder };
  typedef core::pathOptimization::SplineGradientBased<PolynomeBasis,
                                                      SplineOrder>
      Parent_t;
  typedef shared_ptr<SplineGradientBased> Ptr_t;
 
  using typename Parent_t::Spline;
  using typename Parent_t::SplinePtr_t;
  using typename Parent_t::Splines_t;
 
  static Ptr_t create(const ProblemConstPtr_t& problem);
 
  static Ptr_t createFromCore(const core::ProblemConstPtr_t& problem);
 
 protected:
  typedef
      typename hpp::core::pathOptimization::LinearConstraint LinearConstraint;
  using typename Parent_t::SplineOptimizationDatas_t;
 
  SplineGradientBased(const ProblemConstPtr_t& problem);
 
  virtual void initializePathValidation(const Splines_t& splines);
 
  virtual void addProblemConstraints(const core::PathVectorPtr_t& init,
                                     const Splines_t& splines,
                                     LinearConstraint& lc,
                                     SplineOptimizationDatas_t& sods) const;
 
  virtual void constrainEndIntoState(const core::PathPtr_t& path,
                                     const size_type& idxSpline,
                                     const SplinePtr_t& spline,
                                     const graph::StatePtr_t state,
                                     LinearConstraint& lc) const;
 
  virtual void constraintDerivativesAtEndOfSpline(const size_type& idxSpline,
                                                  const SplinePtr_t& spline,
                                                  LinearConstraint& lc) const;
};  // SplineGradientBased
}  // namespace pathOptimization
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_PATH_OPTIMIZATION_GRADIENT_BASED_HH