hpp-core: include/hpp/core/configuration-shooter/uniform.hh Source File

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

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uniform.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
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
29
30#ifndef HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_HH
31#define HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_HH
32
33#include <hpp/core/configuration-shooter.hh>
34#include <hpp/pinocchio/device.hh>
35#include <sstream>
36
37namespace hpp {
38namespace core {
39namespace configurationShooter {
42
44 class HPP_CORE_DLLAPI Uniform : public ConfigurationShooter {
45 public:
46 static UniformPtr_t create(const DevicePtr_t& robot) {
47 Uniform* ptr = new Uniform(robot);
48 UniformPtr_t shPtr(ptr);
49 ptr->init(shPtr);
50 return shPtr;
51 }
52
53 void sampleExtraDOF(bool sampleExtraDOF) { sampleExtraDOF_ = sampleExtraDOF; }
54
55 protected:
59 Uniform(const DevicePtr_t& robot) : robot_(robot), sampleExtraDOF_(true) {}
60 void init(const UniformPtr_t& self) {
61 ConfigurationShooter::init(self);
62 weak_ = self;
63 }
64
65 virtual void impl_shoot(Configuration_t& q) const;
66
67 private:
68 DevicePtr_t robot_;
69 bool sampleExtraDOF_;
70 UniformWkPtr_t weak_;
71}; // class Uniform
73} // namespace configurationShooter
74} // namespace core
75} // namespace hpp
76
77#endif // HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_HH
hpp::core::ConfigurationShooter
Definition configuration-shooter.hh:45
hpp::core::configurationShooter::Uniform
Uniformly sample with bounds of degrees of freedom.
Definition uniform.hh:44
hpp::core::configurationShooter::Uniform::impl_shoot
virtual void impl_shoot(Configuration_t &q) const
hpp::core::configurationShooter::Uniform::init
void init(const UniformPtr_t &self)
Definition uniform.hh:60
hpp::core::configurationShooter::Uniform::create
static UniformPtr_t create(const DevicePtr_t &robot)
Definition uniform.hh:46
hpp::core::configurationShooter::Uniform::sampleExtraDOF
void sampleExtraDOF(bool sampleExtraDOF)
Definition uniform.hh:53
hpp::core::configurationShooter::Uniform::Uniform
Uniform(const DevicePtr_t &robot)
Definition uniform.hh:59
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
configuration-shooter.hh
device.hh
hpp
hpp::core::configurationShooter::UniformPtr_t
shared_ptr< Uniform > UniformPtr_t
Definition fwd.hh:366
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134