hermite.hh

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// Copyright (c) 2016 CNRS
// Authors: Joseph Mirabel
//
 
// 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_STEERING_METHOD_HERMITE_HH
#define HPP_CORE_STEERING_METHOD_HERMITE_HH
 
#include <hpp/core/fwd.hh>
#include <hpp/core/path/hermite.hh>
#include <hpp/core/problem.hh>
#include <hpp/core/steering-method.hh>
#include <hpp/core/steering-method/fwd.hh>
#include <hpp/core/weighed-distance.hh>
 
namespace hpp {
namespace core {
namespace steeringMethod {

class HPP_CORE_DLLAPI Hermite : public SteeringMethod {
 public:
  static HermitePtr_t create(const ProblemConstPtr_t& problem) {
    Hermite* ptr = new Hermite(problem);
    HermitePtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }

  static HermitePtr_t createCopy(const HermitePtr_t& other) {
    Hermite* ptr = new Hermite(*other);
    HermitePtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }

  virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); }

  virtual PathPtr_t impl_compute(ConfigurationIn_t q1,
                                 ConfigurationIn_t q2) const {
    path::HermitePtr_t path =
        path::Hermite::create(problem()->robot(), q1, q2, constraints());
 
    path->computeHermiteLength();
    return path;
  }
 
 protected:
  Hermite(const ProblemConstPtr_t& problem)
      : SteeringMethod(problem), weak_() {}

  Hermite(const Hermite& other) : SteeringMethod(other), weak_() {}

  void init(HermiteWkPtr_t weak) {
    SteeringMethod::init(weak);
    weak_ = weak;
  }
 
 private:
  HermiteWkPtr_t weak_;
};  // Hermite

}  // namespace steeringMethod
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_STEERING_METHOD_HERMITE_HH