constraint-set.hh

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// Copyright (c) 2015 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.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef HPP_MANIPULATION_CONSTRAINT_SET_HH
#define HPP_MANIPULATION_CONSTRAINT_SET_HH
 
#include <hpp/core/constraint-set.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
 
namespace hpp {
namespace manipulation {

class HPP_MANIPULATION_DLLAPI ConstraintSet : public core::ConstraintSet {
 public:
  typedef core::ConstraintSet Parent_t;

  static ConstraintSetPtr_t create(const DevicePtr_t& robot,
                                   const std::string& name);

  static ConstraintSetPtr_t createCopy(const ConstraintSetPtr_t& cs);

  virtual ConstraintPtr_t copy() const;
 
  void edge(graph::EdgePtr_t edge);
 
  graph::EdgePtr_t edge() const;
 
 protected:
  ConstraintSet(const DevicePtr_t& robot, const std::string& name);
  ConstraintSet(const ConstraintSet& other);
  void init(const ConstraintSetPtr_t& self);
 
  virtual std::ostream& print(std::ostream& os) const;
 
 private:
  graph::EdgePtr_t edge_;
  ConstraintSetWkPtr_t weak_;
 
  ConstraintSet() {}
  HPP_SERIALIZABLE();
};  // class ConstraintSet
 
struct ConstraintAndComplement_t {
  ImplicitPtr_t constraint;
  ImplicitPtr_t complement;
  ImplicitPtr_t both;
  ConstraintAndComplement_t(const ImplicitPtr_t& constr,
                            const ImplicitPtr_t& comp, const ImplicitPtr_t& b)
      : constraint(constr), complement(comp), both(b) {}
};
typedef std::vector<ConstraintAndComplement_t> ConstraintsAndComplements_t;
}  // namespace manipulation
}  // namespace hpp
 
BOOST_CLASS_EXPORT_KEY(hpp::manipulation::ConstraintSet)
 
#endif  // HPP_MANIPULATION_CONSTRAINT_SET_HH