progressive.hh

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// Copyright (c) 2014, LAAS-CNRS
// 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.
//
// 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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#ifndef HPP_CORE_PATHPROJECTOR_PROGRESSIVE_HH
#define HPP_CORE_PATHPROJECTOR_PROGRESSIVE_HH
 
#include <hpp/core/path-projector.hh>
 
namespace hpp {
namespace core {
namespace pathProjector {
class HPP_CORE_DLLAPI Progressive : public PathProjector {
 public:
  typedef hpp::core::StraightPath StraightPath;
  typedef hpp::core::StraightPathPtr_t StraightPathPtr_t;

  static ProgressivePtr_t create(const DistancePtr_t& distance,
                                 const SteeringMethodPtr_t& steeringMethod,
                                 value_type step);
 
  static ProgressivePtr_t create(const ProblemConstPtr_t& problem,
                                 const value_type& step);
 
 protected:
  bool impl_apply(const PathPtr_t& path, PathPtr_t& projection) const;
 
  Progressive(const DistancePtr_t& distance,
              const SteeringMethodPtr_t& steeringMethod, value_type step,
              value_type threshold, value_type hessianBound);
 
  bool project(const PathPtr_t& path, PathPtr_t& proj) const;
 
 private:
  value_type step_;
  const value_type thresholdMin_;
  const value_type hessianBound_;
  const bool withHessianBound_;
};
}  // namespace pathProjector
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_PATHPROJECTOR_PROGRESSIVE_HH