graph.hh

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// Copyright (c) 2014, 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.
//
// 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
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// DAMAGE.
 
#ifndef HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH
#define HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH
 
#include <hpp/core/problem-solver.hh>  // SteeringMethodBuilder_t
#include <hpp/core/steering-method.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
#include <hpp/manipulation/steering-method/fwd.hh>
 
namespace hpp {
namespace manipulation {
class HPP_MANIPULATION_DLLAPI SteeringMethod : public core::SteeringMethod {
 public:
  const core::SteeringMethodPtr_t& innerSteeringMethod() const {
    return steeringMethod_;
  }
 
  void innerSteeringMethod(const core::SteeringMethodPtr_t& sm) {
    steeringMethod_ = sm;
  }
 
 protected:
  SteeringMethod(const ProblemConstPtr_t& problem);

  SteeringMethod(const SteeringMethod& other);
 
  void init(SteeringMethodWkPtr_t weak) { core::SteeringMethod::init(weak); }

  ProblemConstPtr_t problem_;
  core::SteeringMethodPtr_t steeringMethod_;
};
 
namespace steeringMethod {
using core::PathPtr_t;
 
class HPP_MANIPULATION_DLLAPI Graph : public SteeringMethod {
  typedef core::SteeringMethodBuilder_t SteeringMethodBuilder_t;
 
 public:
  static GraphPtr_t create(const core::ProblemConstPtr_t& problem);
 
  template <typename T>
  static GraphPtr_t create(const core::ProblemConstPtr_t& problem);

  static GraphPtr_t createCopy(const GraphPtr_t& other);

  virtual core::SteeringMethodPtr_t copy() const {
    return createCopy(weak_.lock());
  }
 
 protected:
  Graph(const ProblemConstPtr_t& problem);

  Graph(const Graph&);
 
  virtual PathPtr_t impl_compute(ConfigurationIn_t q1,
                                 ConfigurationIn_t q2) const;
 
  void init(GraphWkPtr_t weak) {
    SteeringMethod::init(weak);
    weak_ = weak;
  }
 
 private:
  GraphWkPtr_t weak_;
};
 
template <typename T>
GraphPtr_t Graph::create(const core::ProblemConstPtr_t& problem) {
  GraphPtr_t gsm = Graph::create(problem);
  gsm->innerSteeringMethod(T::create(problem));
  return gsm;
}
}  // namespace steeringMethod
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH