hpp-core: include/hpp/core/distance.hh Source File

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

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distance.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_DISTANCE_HH
31#define HPP_CORE_DISTANCE_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/fwd.hh>
35#include <hpp/core/node.hh>
36#include <hpp/pinocchio/fwd.hh>
37#include <hpp/util/serialization-fwd.hh>
38
39namespace hpp {
40namespace core {
43
45 class HPP_CORE_DLLAPI Distance {
46 public:
47 value_type operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const {
48 return impl_distance(q1, q2);
49 }
50
51 value_type operator()(NodePtr_t n1, NodePtr_t n2) const {
52 return impl_distance(n1, n2);
53 }
54
55 value_type compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const {
56 return impl_distance(q1, q2);
57 }
58
59 value_type compute(NodePtr_t n1, NodePtr_t n2) const {
60 return impl_distance(n1, n2);
61 }
62
63 virtual DistancePtr_t clone() const = 0;
64
65 virtual ~Distance() {};
66
67 protected:
68 Distance() {}
70 virtual value_type impl_distance(ConfigurationIn_t q1,
71 ConfigurationIn_t q2) const = 0;
72 virtual value_type impl_distance(NodePtr_t n1, NodePtr_t n2) const {
73 return impl_distance(n1->configuration(), n2->configuration());
74 }
75
76 HPP_SERIALIZABLE();
77}; // class Distance
79} // namespace core
80} // namespace hpp
81#endif // HPP_CORE_DISTANCE_HH
hpp::core::Distance
Abstract class for distance between configurations.
Definition distance.hh:45
hpp::core::Distance::operator()
value_type operator()(NodePtr_t n1, NodePtr_t n2) const
Definition distance.hh:51
hpp::core::Distance::compute
value_type compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Definition distance.hh:55
hpp::core::Distance::operator()
value_type operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Definition distance.hh:47
hpp::core::Distance::clone
virtual DistancePtr_t clone() const =0
hpp::core::Distance::~Distance
virtual ~Distance()
Definition distance.hh:65
hpp::core::Distance::Distance
Distance()
Definition distance.hh:68
hpp::core::Distance::compute
value_type compute(NodePtr_t n1, NodePtr_t n2) const
Definition distance.hh:59
hpp::core::Distance::impl_distance
virtual value_type impl_distance(NodePtr_t n1, NodePtr_t n2) const
Definition distance.hh:72
hpp::core::Distance::HPP_SERIALIZABLE
HPP_SERIALIZABLE()
hpp::core::Distance::impl_distance
virtual value_type impl_distance(ConfigurationIn_t q1, ConfigurationIn_t q2) const =0
Derived class should implement this function.
hpp::core::Node
Definition node.hh:46
hpp::core::Node::configuration
const Configuration_t & configuration() const
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::DistancePtr_t
shared_ptr< Distance > DistancePtr_t
Definition fwd.hh:141
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
node.hh
serialization-fwd.hh