discretized.hh

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//
// Copyright (c) 2015 CNRS
// Authors: Florent Lamiraux
//
 
// 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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DAMAGE.
 
#ifndef HPP_CORE_PATH_VALIDATION_DISCRETIZED_HH
#define HPP_CORE_PATH_VALIDATION_DISCRETIZED_HH
 
#include <hpp/core/config-validations.hh>
#include <hpp/core/path-validation.hh>
 
namespace hpp {
namespace core {
namespace pathValidation {

class HPP_CORE_DLLAPI Discretized : public PathValidation,
                                    public ConfigValidations {
 public:
  static DiscretizedPtr_t create(const value_type& stepSize);
  static DiscretizedPtr_t create(
      const value_type& stepSize,
      std::initializer_list<ConfigValidationPtr_t> validations);

  virtual bool validate(const PathPtr_t& path, bool reverse,
                        PathPtr_t& validPart,
                        PathValidationReportPtr_t& report);

  virtual bool validate(ConfigurationIn_t q, ValidationReportPtr_t& report);
 
  virtual ~Discretized() {};
 
 protected:
  Discretized(const value_type& stepSize) : stepSize_(stepSize) {}
  Discretized(const value_type& stepSize,
              std::initializer_list<ConfigValidationPtr_t> validations)
      : ConfigValidations(validations), stepSize_(stepSize) {};
 
  value_type stepSize_;
};  // class Discretized

}  // namespace pathValidation
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_DISCRETIZED_PATH_VALIDATION_HH