hpp-core: include/hpp/core/weighed-distance.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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weighed-distance.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Florent Lamiraux
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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28// DAMAGE.
29
30#ifndef HPP_CORE_WEIGHED_DISTANCE_HH
31#define HPP_CORE_WEIGHED_DISTANCE_HH
32
33#include <hpp/core/distance.hh>
34
35namespace hpp {
36namespace core {
39
44 class HPP_CORE_DLLAPI WeighedDistance : public Distance {
45 public:
46 static WeighedDistancePtr_t createFromProblem(
47 const ProblemConstPtr_t& problem);
48 static WeighedDistancePtr_t create(const DevicePtr_t& robot);
49 static WeighedDistancePtr_t createWithWeight(const DevicePtr_t& robot,
50 const vector_t& weights);
51 static WeighedDistancePtr_t createCopy(const WeighedDistancePtr_t& distance);
52 virtual DistancePtr_t clone() const;
55 value_type getWeight(size_type rank) const;
58 void setWeight(size_type rank, value_type weight);
60 const vector_t& weights() const;
62 void weights(const vector_t& ws);
64 size_type size() const { return weights_.size(); }
65
67 const DevicePtr_t& robot() const { return robot_; }
68
69 protected:
70 WeighedDistance(const ProblemConstPtr_t& problem);
71 WeighedDistance(const DevicePtr_t& robot);
72 WeighedDistance(const DevicePtr_t& robot, const vector_t& weights);
73 WeighedDistance(const WeighedDistance& distance);
74 void init(WeighedDistanceWkPtr_t self);
76 virtual value_type impl_distance(ConfigurationIn_t q1,
77 ConfigurationIn_t q2) const;
79 WeighedDistance() {}
80
81 private:
82 void computeWeights();
83 DevicePtr_t robot_;
84 vector_t weights_;
85 WeighedDistanceWkPtr_t weak_;
86
87 HPP_SERIALIZABLE();
88}; // class WeighedDistance
90} // namespace core
91} // namespace hpp
92#endif // HPP_CORE_WEIGHED_DISTANCE_HH
hpp::core::Distance
Abstract class for distance between configurations.
Definition distance.hh:45
hpp::core::WeighedDistance
Definition weighed-distance.hh:44
hpp::core::WeighedDistance::createCopy
static WeighedDistancePtr_t createCopy(const WeighedDistancePtr_t &distance)
hpp::core::WeighedDistance::createFromProblem
static WeighedDistancePtr_t createFromProblem(const ProblemConstPtr_t &problem)
hpp::core::WeighedDistance::impl_distance
virtual value_type impl_distance(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Derived class should implement this function.
hpp::core::WeighedDistance::getWeight
value_type getWeight(size_type rank) const
hpp::core::WeighedDistance::WeighedDistance
WeighedDistance(const WeighedDistance &distance)
hpp::core::WeighedDistance::WeighedDistance
WeighedDistance(const DevicePtr_t &robot)
hpp::core::WeighedDistance::createWithWeight
static WeighedDistancePtr_t createWithWeight(const DevicePtr_t &robot, const vector_t &weights)
hpp::core::WeighedDistance::clone
virtual DistancePtr_t clone() const
hpp::core::WeighedDistance::weights
const vector_t & weights() const
Get weights.
hpp::core::WeighedDistance::robot
const DevicePtr_t & robot() const
Get robot.
Definition weighed-distance.hh:67
hpp::core::WeighedDistance::WeighedDistance
WeighedDistance(const DevicePtr_t &robot, const vector_t &weights)
hpp::core::WeighedDistance::create
static WeighedDistancePtr_t create(const DevicePtr_t &robot)
hpp::core::WeighedDistance::setWeight
void setWeight(size_type rank, value_type weight)
hpp::core::WeighedDistance::WeighedDistance
WeighedDistance(const ProblemConstPtr_t &problem)
hpp::core::WeighedDistance::weights
void weights(const vector_t &ws)
Set weights.
hpp::core::WeighedDistance::size
size_type size() const
Get size of weight vector.
Definition weighed-distance.hh:64
hpp::core::WeighedDistance::init
void init(WeighedDistanceWkPtr_t self)
hpp::core::WeighedDistance::WeighedDistance
WeighedDistance()
For serialization only.
Definition weighed-distance.hh:79
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
distance.hh
hpp
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::DistancePtr_t
shared_ptr< Distance > DistancePtr_t
Definition fwd.hh:141
hpp::core::WeighedDistancePtr_t
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition fwd.hh:226
hpp::core::vector_t
pinocchio::vector_t vector_t
Definition fwd.hh:220
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::size_type
pinocchio::size_type size_type
Definition fwd.hh:173
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134
HPP_SERIALIZABLE
#define HPP_SERIALIZABLE()