hpp-core: include/hpp/core/path/cost.hh Source File

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

Loading...
Searching...
No Matches
cost.hh
Go to the documentation of this file.
1// Copyright (c) 2025 Centre National de la Recherche Scientifique
2// Authors: Florent Lamiraux (florent.lamiraux@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
26// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27// DAMAGE.
28
29#ifndef HPP_CORE_PATH_COST_HH
30#define HPP_CORE_PATH_COST_HH
31
32#include <hpp/core/config.hh>
33#include <hpp/core/path.hh>
34
35namespace hpp {
36namespace core {
37namespace path {
41 class HPP_CORE_DLLAPI Cost {
42 public:
44 virtual value_type eval(const PathConstPtr_t& path) = 0;
45}; // class Cost
46
47namespace cost {
49 class HPP_CORE_DLLAPI Length : public Cost {
50 public:
51 static LengthPtr_t create() { return LengthPtr_t(new Length()); }
52 virtual value_type eval(const PathConstPtr_t& path) { return path->length(); }
53}; // class Length
54} // namespace cost
55} // namespace path
56} // namespace core
57} // namespace hpp
58#endif // HPP_CORE_PATH_COST_HH
hpp::core::path::Cost
Definition cost.hh:41
hpp::core::path::Cost::eval
virtual value_type eval(const PathConstPtr_t &path)=0
Evaluate the cost of a path.
hpp::core::path::cost::Length
Length of a path as cost.
Definition cost.hh:49
hpp::core::path::cost::Length::eval
virtual value_type eval(const PathConstPtr_t &path)
Evaluate the cost of a path.
Definition cost.hh:52
hpp::core::path::cost::Length::create
static LengthPtr_t create()
Definition cost.hh:51
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::path::cost::LengthPtr_t
shared_ptr< Length > LengthPtr_t
Definition fwd.hh:253
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::PathConstPtr_t
shared_ptr< const Path > PathConstPtr_t
Definition fwd.hh:188
path.hh