18 #ifndef HPP_MANIPULATION_DISTANCE_HH
19 # define HPP_MANIPULATION_DISTANCE_HH
21 # include <hpp/core/weighed-distance.hh>
28 namespace manipulation {
42 virtual core::DistancePtr_t
clone ()
const;
65 core::NodePtr_t n1, core::NodePtr_t n2)
const;
67 void init (WeighedDistanceWkPtr_t
self);
71 WeighedDistanceWkPtr_t weak_;
Class for distance between configurations.
Definition: weighed-distance.hh:34
static WeighedDistancePtr_t create(const DevicePtr_t &robot, const graph::GraphPtr_t &graph)
graph::GraphPtr_t constraintGraph() const
Get the graph of constraints.
Definition: weighed-distance.hh:51
void constraintGraph(const graph::GraphPtr_t &graph)
Set the graph of constraints.
Definition: weighed-distance.hh:45
WeighedDistance(const DevicePtr_t &robot, const graph::GraphPtr_t graph)
virtual core::DistancePtr_t clone() const
static WeighedDistancePtr_t createCopy(const WeighedDistancePtr_t &distance)
void init(WeighedDistanceWkPtr_t self)
virtual value_type impl_distance(core::NodePtr_t n1, core::NodePtr_t n2) const
WeighedDistance(const WeighedDistance &distance)
virtual value_type impl_distance(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Derived class should implement this function.
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:72
core::value_type value_type
Definition: fwd.hh:82
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38