task-target.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.
//
// 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
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// DAMAGE.
 
#ifndef HPP_CORE_PROBLEM_TARGET_TASK_TARGET_HH
#define HPP_CORE_PROBLEM_TARGET_TASK_TARGET_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
#include <hpp/core/problem-target.hh>
 
namespace hpp {
namespace core {
namespace problemTarget {

class HPP_CORE_DLLAPI TaskTarget : public ProblemTarget {
 public:
  static TaskTargetPtr_t create(const ProblemPtr_t& problem);

  void check(const RoadmapPtr_t& roadmap) const;

  bool reached(const RoadmapPtr_t& roadmap) const;
 
  PathVectorPtr_t computePath(const RoadmapPtr_t& roadmap) const;
 
  void constraints(const ConstraintSetPtr_t& c) { constraints_ = c; }

  NumericalConstraints_t constraints() const;
 
 protected:
  TaskTarget(const ProblemPtr_t& problem) : ProblemTarget(problem) {}
 
 private:
  ConstraintSetPtr_t constraints_;
};  // class TaskTarget

}  // namespace problemTarget
}  //   namespace core
}  // namespace hpp
#endif  // HPP_CORE_PROBLEM_TARGET_TASK_TARGET_HH