recursive-hermite.hh

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// Copyright (c) 2016, 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.
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// 2. Redistributions in binary form must reproduce the above copyright
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#ifndef HPP_CORE_PATHPROJECTOR_RECURSIVE_HERMITE_HH
#define HPP_CORE_PATHPROJECTOR_RECURSIVE_HERMITE_HH
 
#include "hpp/core/config.hh"
#include "hpp/core/fwd.hh"
#include "hpp/core/path-projector.hh"
 
namespace hpp {
namespace core {
namespace pathProjector {
class HPP_CORE_DLLAPI RecursiveHermite : public PathProjector {
 public:
  typedef hpp::core::path::Hermite Hermite;
  typedef hpp::core::path::HermitePtr_t HermitePtr_t;
 
  static RecursiveHermitePtr_t create(const DistancePtr_t& distance,
                                      const SteeringMethodPtr_t& steeringMethod,
                                      value_type step);
 
  static RecursiveHermitePtr_t create(const ProblemConstPtr_t& problem,
                                      const value_type& step);
 
 protected:
  bool impl_apply(const PathPtr_t& path, PathPtr_t& projection) const;
 
  RecursiveHermite(const DistancePtr_t& distance,
                   const SteeringMethodPtr_t& steeringMethod,
                   const value_type& M, const value_type& beta);
 
  bool project(const PathPtr_t& path, PathPtr_t& proj) const;
 
 private:
  bool recurse(const HermitePtr_t& path, PathVectorPtr_t& proj,
               const value_type& thr) const;
  value_type M_, beta_;
};
}  // namespace pathProjector
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_PATHPROJECTOR_RECURSIVE_HERMITE_HH