steering-method.hh

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//
// Copyright (c) 2014 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,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_CORE_STEERING_METHOD_HH
#define HPP_CORE_STEERING_METHOD_HH
 
#include <hpp/core/fwd.hh>
#include <hpp/core/path.hh>
#include <hpp/core/projection-error.hh>
#include <hpp/util/debug.hh>
 
namespace hpp {
namespace core {

class HPP_CORE_DLLAPI SteeringMethod {
 public:
  PathPtr_t operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const {
    PathPtr_t path;
    try {
      path = impl_compute(q1, q2);
    } catch (const projection_error& e) {
      hppDout(info, "Could not build path: " << e.what());
    }
    assert(q1 != q2 || path);
    return path;
  }

  PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const {
    return this->operator()(q1, q2);
  }
 
  virtual ~SteeringMethod() {};

  virtual SteeringMethodPtr_t copy() const = 0;
 
  ProblemConstPtr_t problem() const { return problem_.lock(); }


  void constraints(const ConstraintSetPtr_t& constraints) {
    constraints_ = constraints;
  }

  const ConstraintSetPtr_t& constraints() const { return constraints_; }
 
 protected:
  SteeringMethod(const ProblemConstPtr_t& problem)
      : problem_(problem), constraints_(), weak_() {}

  SteeringMethod(const SteeringMethod& other)
      : problem_(other.problem_), constraints_(), weak_() {
    if (other.constraints_) {
      constraints_ =
          HPP_DYNAMIC_PTR_CAST(ConstraintSet, other.constraints_->copy());
    }
  }

  virtual PathPtr_t impl_compute(ConfigurationIn_t q1,
                                 ConfigurationIn_t q2) const = 0;
  void init(SteeringMethodWkPtr_t weak) { weak_ = weak; }
 
 private:
  ProblemConstWkPtr_t problem_;
  ConstraintSetPtr_t constraints_;
  SteeringMethodWkPtr_t weak_;
};  // class SteeringMethod

}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_STEERING_METHOD_HH