hpp-core: include/hpp/core/path-optimization/random-shortcut.hh Source File

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

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random-shortcut.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,
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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
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29
30#ifndef HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
31#define HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
32
33#include <hpp/core/path-optimizer.hh>
34
35namespace hpp {
36namespace core {
37namespace pathOptimization {
40
49 class HPP_CORE_DLLAPI RandomShortcut : public PathOptimizer {
50 public:
52 static RandomShortcutPtr_t create(const ProblemConstPtr_t& problem);
53
55 virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);
56
57 protected:
58 RandomShortcut(const ProblemConstPtr_t& problem);
59
66 virtual bool shootTimes(const PathVectorPtr_t& currentOpt,
67 const value_type& t0, value_type& t1, value_type& t2,
68 const value_type& t3);
69}; // class RandomShortcut
71} // namespace pathOptimization
72} // namespace core
73} // namespace hpp
74#endif // HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
hpp::core::PathOptimizer
Definition path-optimizer.hh:44
hpp::core::pathOptimization::RandomShortcut
Definition random-shortcut.hh:49
hpp::core::pathOptimization::RandomShortcut::shootTimes
virtual bool shootTimes(const PathVectorPtr_t &currentOpt, const value_type &t0, value_type &t1, value_type &t2, const value_type &t3)
hpp::core::pathOptimization::RandomShortcut::optimize
virtual PathVectorPtr_t optimize(const PathVectorPtr_t &path)
Optimize path.
hpp::core::pathOptimization::RandomShortcut::create
static RandomShortcutPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
hpp::core::pathOptimization::RandomShortcut::RandomShortcut
RandomShortcut(const ProblemConstPtr_t &problem)
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::pathOptimization::RandomShortcutPtr_t
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition fwd.hh:291
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition fwd.hh:193
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
path-optimizer.hh