CartesianProductProjectable.hpp

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#ifndef AIKIDO_CONSTRAINT_CARTESIANPRODUCTPROJECTABLE_HPP_
#define AIKIDO_CONSTRAINT_CARTESIANPRODUCTPROJECTABLE_HPP_
 
#include "aikido/constraint/Projectable.hpp"
#include "aikido/statespace/CartesianProduct.hpp"
 
namespace aikido {
namespace constraint {
 
class CartesianProductProjectable : public Projectable
{
public:
  CartesianProductProjectable(
      std::shared_ptr<const statespace::CartesianProduct> _stateSpace,
      std::vector<ProjectablePtr> _constraints);
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  // Documentation inherited.
  bool project(
      const statespace::StateSpace::State* _s,
      statespace::StateSpace::State* _out) const override;
 
private:
  std::shared_ptr<const statespace::CartesianProduct> mStateSpace;
  std::vector<ProjectablePtr> mConstraints;
};
 
} // namespace constraint
} // namespace aikido
 
#endif // ifndef AIKIDO_CONSTRAINT_CARTESIANPRODUCTPROJECTABLE_HPP_