weighed-distance.hh

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// Copyright (c) 2015 CNRS
// Authors: Joseph Mirabel
//
 
// 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,
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// DAMAGE.
 
#ifndef HPP_MANIPULATION_DISTANCE_HH
#define HPP_MANIPULATION_DISTANCE_HH
 
#include <hpp/core/weighed-distance.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
 
namespace hpp {
namespace manipulation {

class HPP_MANIPULATION_DLLAPI WeighedDistance : public core::WeighedDistance {
 public:
  static WeighedDistancePtr_t create(const DevicePtr_t& robot,
                                     const graph::GraphPtr_t& graph);
 
  static WeighedDistancePtr_t createCopy(const WeighedDistancePtr_t& distance);
 
  virtual core::DistancePtr_t clone() const;

  void constraintGraph(const graph::GraphPtr_t& graph) { graph_ = graph; }

  graph::GraphPtr_t constraintGraph() const { return graph_; }
 
 protected:
  WeighedDistance(const DevicePtr_t& robot, const graph::GraphPtr_t graph);
 
  WeighedDistance(const WeighedDistance& distance);

  virtual value_type impl_distance(ConfigurationIn_t q1,
                                   ConfigurationIn_t q2) const;
  virtual value_type impl_distance(core::NodePtr_t n1,
                                   core::NodePtr_t n2) const;
 
  void init(WeighedDistanceWkPtr_t self);
 
 private:
  graph::GraphPtr_t graph_;
  WeighedDistanceWkPtr_t weak_;
 
  WeighedDistance() {}
  HPP_SERIALIZABLE();
};  // class Distance

}  //   namespace manipulation
}  // namespace hpp
#endif  // HPP_MANIPULATION_DISTANCE_HH