hpp-core: include/hpp/core/time-parameterization.hh Source File

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

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time-parameterization.hh
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1// Copyright (c) 2017, Joseph Mirabel
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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27// DAMAGE.
28
29#ifndef HPP_CORE_TIME_PARAMETERIZATION_HH
30#define HPP_CORE_TIME_PARAMETERIZATION_HH
31
32#include <hpp/core/config.hh>
33#include <hpp/core/fwd.hh>
34
35namespace hpp {
36namespace core {
37 class HPP_CORE_DLLAPI TimeParameterization {
38 public:
39 virtual value_type value(const value_type& t) const = 0;
40 virtual value_type derivative(const value_type& t,
41 const size_type& order) const = 0;
42 virtual value_type derivativeBound(const value_type& low,
43 const value_type& up) const {
44 (void)low;
45 (void)up;
46 throw std::logic_error("not implemented");
47 }
48
49 virtual TimeParameterizationPtr_t copy() const = 0;
50}; // class TimeParameterization
51} // namespace core
52} // namespace hpp
53#endif // HPP_CORE_TIME_PARAMETERIZATION_HH
hpp::core::TimeParameterization
Definition time-parameterization.hh:37
hpp::core::TimeParameterization::derivative
virtual value_type derivative(const value_type &t, const size_type &order) const =0
hpp::core::TimeParameterization::value
virtual value_type value(const value_type &t) const =0
hpp::core::TimeParameterization::copy
virtual TimeParameterizationPtr_t copy() const =0
hpp::core::TimeParameterization::derivativeBound
virtual value_type derivativeBound(const value_type &low, const value_type &up) const
Definition time-parameterization.hh:42
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp
hpp::core::TimeParameterizationPtr_t
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition fwd.hh:189
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::size_type
pinocchio::size_type size_type
Definition fwd.hh:173