random-shortcut.hh

Go to the documentation of this file.

// 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,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// 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
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
#define HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
 
#include <hpp/core/path-optimization/random-shortcut.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
 
namespace hpp {
namespace manipulation {
namespace pathOptimization {
HPP_PREDEF_CLASS(RandomShortcut);
typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t;
 
class HPP_MANIPULATION_DLLAPI RandomShortcut
    : public core::pathOptimization::RandomShortcut {
 public:
  static RandomShortcutPtr_t create(const core::ProblemConstPtr_t problem) {
    return RandomShortcutPtr_t(new RandomShortcut(problem));
  }
 
 protected:
  RandomShortcut(const core::ProblemConstPtr_t& problem)
      : core::pathOptimization::RandomShortcut(problem) {}

  virtual bool shootTimes(const core::PathVectorPtr_t& currentOpt,
                          const value_type& t0, value_type& t1, value_type& t2,
                          const value_type& t3);
};  // class RandomShortcut

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