graph-optimizer.hh

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// Copyright (c) 2015, LAAS-CNRS
// 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.
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// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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#ifndef HPP_MANIPULATION_GRAPHOPTIMIZER_HH
#define HPP_MANIPULATION_GRAPHOPTIMIZER_HH
 
#include <hpp/core/path-optimizer.hh>
#include <hpp/core/problem-solver.hh>  // PathOptimizerBuilder_t
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
 
namespace hpp {
namespace manipulation {
using hpp::core::Path;
using hpp::core::PathPtr_t;
using hpp::core::PathVector;
using hpp::core::PathVectorPtr_t;


class HPP_MANIPULATION_DLLAPI GraphOptimizer : public PathOptimizer {
 public:
  typedef core::PathOptimizerBuilder_t PathOptimizerBuilder_t;
 
  template <typename TraitsOrInnerType>
  static GraphOptimizerPtr_t create(const core::ProblemConstPtr_t& problem);
 
  virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);

  const PathOptimizerPtr_t& innerOptimizer() { return pathOptimizer_; }
 
 protected:
  GraphOptimizer(const core::ProblemConstPtr_t& problem,
                 PathOptimizerBuilder_t factory)
      : PathOptimizer(problem), factory_(factory), pathOptimizer_() {}
 
 private:
  PathOptimizerBuilder_t factory_;

  PathOptimizerPtr_t pathOptimizer_;
};


template <typename TraitsOrInnerType>
GraphOptimizerPtr_t GraphOptimizer::create(
    const core::ProblemConstPtr_t& problem) {
  return GraphOptimizerPtr_t(
      new GraphOptimizer(problem, TraitsOrInnerType::create));
}
 
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_GRAPHOPTIMIZER_HH