random-shortcut.hh

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// Copyright (c) 2018, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// DAMAGE.
 
#ifndef HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
#define HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
 
#include <hpp/core/path-optimization/random-shortcut.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
 
namespace hpp {
namespace manipulation {
namespace pathOptimization {
HPP_PREDEF_CLASS(RandomShortcut);
typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t;
 
class HPP_MANIPULATION_DLLAPI RandomShortcut
    : public core::pathOptimization::RandomShortcut {
 public:
  static RandomShortcutPtr_t create(const core::ProblemConstPtr_t problem) {
    return RandomShortcutPtr_t(new RandomShortcut(problem));
  }
 
 protected:
  RandomShortcut(const core::ProblemConstPtr_t& problem)
      : core::pathOptimization::RandomShortcut(problem) {}
 
  virtual bool shootTimes(const core::PathVectorPtr_t& currentOpt,
                          const value_type& t0, value_type& t1, value_type& t2,
                          const value_type& t3);
};  // class RandomShortcut
}  // namespace pathOptimization
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH