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/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
#define EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
#include <string>
#include <vector>
#include <Eigen/Dense>
#include <dart/dart.hpp>
class State;
//==============================================================================
/// \brief class TerminalCondition
class TerminalCondition
{
public:
/// \brief Constructor
TerminalCondition(State* _state);
/// \brief Destructor
virtual ~TerminalCondition();
/// \brief Check if this condition is satisfied or not.
virtual bool isSatisfied() = 0;
protected:
/// \brief State
State* mState;
};
//==============================================================================
/// \brief class TimerCondition
class TimerCondition : public TerminalCondition
{
public:
/// \brief Constructor
TimerCondition(State* _state, double _duration);
/// \brief Destructor
virtual ~TimerCondition();
// Documentation inherited.
bool isSatisfied() override;
protected:
/// \brief Duration
double mDuration;
};
//==============================================================================
/// \brief class BodyContactCondition
class BodyContactCondition : public TerminalCondition
{
public:
/// \brief Constructor
BodyContactCondition(State* _state, dart::dynamics::BodyNode* _body);
/// \brief Destructor
virtual ~BodyContactCondition();
// Documentation inherited.
bool isSatisfied() override;
protected:
/// \brief Body node to be tested
dart::dynamics::BodyNode* mBodyNode;
};
#endif // EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
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