Commit 771acf28 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[Refactoring] Add methods equivalent to operator()

parent 22ee3628
......@@ -43,6 +43,17 @@ namespace hpp {
return impl_distance (n1, n2);
}
value_type compute (ConfigurationIn_t q1,
ConfigurationIn_t q2) const
{
return impl_distance (q1, q2);
}
value_type compute (NodePtr_t n1, NodePtr_t n2) const
{
return impl_distance (n1, n2);
}
virtual DistancePtr_t clone () const = 0;
virtual ~Distance () {};
......
......@@ -141,6 +141,17 @@ namespace hpp {
return applyConstraints (result, s);
}
Configuration_t eval (const value_type& time, bool& success) const
{
return this->operator() (time, success);
}
bool eval (ConfigurationOut_t result, const value_type& time)
const throw ()
{
return this->operator() (result, time);
}
/// Get the configuration at a parameter without applying the constraints.
bool at (const value_type& time, ConfigurationOut_t result) const
{
......
......@@ -52,6 +52,12 @@ namespace hpp {
return PathPtr_t ();
}
/// \copydoc SteeringMethod::operator()(ConfigurationIn_t,ConfigurationIn_t)
PathPtr_t steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
{
return this->operator() (q1, q2);
}
virtual ~SteeringMethod () {};
/// Copy instance and return shared pointer
......
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