spline-gradient-based.hh

Go to the documentation of this file.

// Copyright (c) 2017, 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_SPLINE_GRADIENT_BASED_HH
#define HPP_MANIPULATION_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH
 
#include <hpp/core/path-optimization/spline-gradient-based.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/problem.hh>
 
namespace hpp {
namespace manipulation {
namespace pathOptimization {
template <int _PolynomeBasis, int _SplineOrder>
class HPP_MANIPULATION_DLLAPI SplineGradientBased
    : public core::pathOptimization::SplineGradientBased<_PolynomeBasis,
                                                         _SplineOrder> {
 public:
  enum { PolynomeBasis = _PolynomeBasis, SplineOrder = _SplineOrder };
  typedef core::pathOptimization::SplineGradientBased<PolynomeBasis,
                                                      SplineOrder>
      Parent_t;
  typedef shared_ptr<SplineGradientBased> Ptr_t;
 
  using typename Parent_t::Spline;
  using typename Parent_t::SplinePtr_t;
  using typename Parent_t::Splines_t;

  static Ptr_t create(const ProblemConstPtr_t& problem);

  static Ptr_t createFromCore(const core::ProblemConstPtr_t& problem);
 
 protected:
  typedef
      typename hpp::core::pathOptimization::LinearConstraint LinearConstraint;
  using typename Parent_t::SplineOptimizationDatas_t;
 
  SplineGradientBased(const ProblemConstPtr_t& problem);

  virtual void initializePathValidation(const Splines_t& splines);
 
  virtual void addProblemConstraints(const core::PathVectorPtr_t& init,
                                     const Splines_t& splines,
                                     LinearConstraint& lc,
                                     SplineOptimizationDatas_t& sods) const;
 
  virtual void constrainEndIntoState(const core::PathPtr_t& path,
                                     const size_type& idxSpline,
                                     const SplinePtr_t& spline,
                                     const graph::StatePtr_t state,
                                     LinearConstraint& lc) const;
 
  virtual void constraintDerivativesAtEndOfSpline(const size_type& idxSpline,
                                                  const SplinePtr_t& spline,
                                                  LinearConstraint& lc) const;
};  // SplineGradientBased
}  // namespace pathOptimization
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_PATH_OPTIMIZATION_GRADIENT_BASED_HH