path-projector.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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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef HPP_CORE_PATHPROJECTOR_HH
#define HPP_CORE_PATHPROJECTOR_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
 
namespace hpp {
namespace core {
class HPP_CORE_DLLAPI PathProjector {
 public:
  typedef hpp::core::Path Path;
  typedef hpp::core::PathPtr_t PathPtr_t;
  typedef hpp::core::PathVector PathVector;
  typedef hpp::core::PathVectorPtr_t PathVectorPtr_t;

  virtual ~PathProjector();

  bool apply(const PathPtr_t& path, PathPtr_t& projection) const;
 
 protected:
  PathProjector(const DistancePtr_t& distance,
                const SteeringMethodPtr_t& steeringMethod,
                bool keepSteeringMethodConstraints = false);

  virtual bool impl_apply(const PathPtr_t& path,
                          PathPtr_t& projection) const = 0;
 
  value_type d(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
  PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
  SteeringMethodPtr_t steeringMethod_;
 
 private:
  DistancePtr_t distance_;
};
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_PATHPROJECTOR_HH