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

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

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configuration-shooter.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_HH
31#define HPP_CORE_CONFIGURATION_SHOOTER_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/fwd.hh>
35
36namespace hpp {
37namespace core {
40
45 class HPP_CORE_DLLAPI ConfigurationShooter {
46 public:
48 virtual Configuration_t shoot() const {
49 Configuration_t q;
50 shoot(q);
51 return q;
52 }
53
60 virtual void shoot(Configuration_t& q) const { impl_shoot(q); }
61
62 virtual ~ConfigurationShooter() {};
63
64 protected:
65 ConfigurationShooter() {}
67 void init(const ConfigurationShooterWkPtr_t& weak) { weakPtr_ = weak; }
68
69 virtual void impl_shoot(Configuration_t& q) const = 0;
70
71 private:
72 ConfigurationShooterWkPtr_t weakPtr_;
73}; // class
74} // namespace core
76} // namespace hpp
77#endif // HPP_CORE_CONFIGURATION_SHOOTER_HH
hpp::core::ConfigurationShooter
Definition configuration-shooter.hh:45
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp::core::ConfigurationShooter::ConfigurationShooter
ConfigurationShooter()
Definition configuration-shooter.hh:65
hpp::core::ConfigurationShooter::~ConfigurationShooter
virtual ~ConfigurationShooter()
Definition configuration-shooter.hh:62
hpp::core::ConfigurationShooter::impl_shoot
virtual void impl_shoot(Configuration_t &q) const =0
hpp::core::ConfigurationShooter::shoot
virtual void shoot(Configuration_t &q) const
Definition configuration-shooter.hh:60
hpp::core::ConfigurationShooter::init
void init(const ConfigurationShooterWkPtr_t &weak)
Store weak pointer to itself.
Definition configuration-shooter.hh:67
hpp::core::ConfigurationShooter::shoot
virtual Configuration_t shoot() const
Shoot a random configuration.
Definition configuration-shooter.hh:48
hpp
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107