enforce-transition-semantic.hh

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// Copyright (c) 2018, Joseph Mirabel
// 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.
//
// 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,
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#ifndef HPP_MANIPULATION_PATHOPTIMIZATION_ENFORCE_TRANSITION_SEMANTIC_HH
#define HPP_MANIPULATION_PATHOPTIMIZATION_ENFORCE_TRANSITION_SEMANTIC_HH
 
#include <hpp/core/path-optimizer.hh>
#include <hpp/manipulation/problem.hh>
 
namespace hpp {
namespace manipulation {
namespace pathOptimization {
using hpp::core::Path;
using hpp::core::PathPtr_t;
using hpp::core::PathVector;

class HPP_MANIPULATION_DLLAPI EnforceTransitionSemantic
    : public core::PathOptimizer {
 public:
  typedef hpp::core::PathVectorPtr_t PathVectorPtr_t;
  typedef shared_ptr<EnforceTransitionSemantic> Ptr_t;
 
  static Ptr_t create(const core::ProblemConstPtr_t& problem) {
    ProblemConstPtr_t p(HPP_DYNAMIC_PTR_CAST(const Problem, problem));
    if (!p) throw std::invalid_argument("This is not a manipulation problem.");
    return Ptr_t(new EnforceTransitionSemantic(p));
  }
 
  virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);
 
 protected:
  EnforceTransitionSemantic(const ProblemConstPtr_t& problem)
      : PathOptimizer(problem), problem_(problem) {}
 
 private:
  ProblemConstPtr_t problem_;
};

}  // namespace pathOptimization
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_PATHOPTIMIZATION_ENFORCE_TRANSITION_SEMANTIC_HH