codac
2.0.0
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src
core
contractors
codac2_CtcSegment.h
Go to the documentation of this file.
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#pragma once
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#include "
codac2_Ctc.h
"
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#include "
codac2_IntervalVector.h
"
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#include "
codac2_Segment.h
"
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namespace
codac2
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{
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class
CtcSegment :
public
Ctc<CtcSegment,IntervalVector>
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{
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public
:
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CtcSegment(
const
IntervalVector& a,
const
IntervalVector& b)
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: Ctc<CtcSegment,
IntervalVector
>(2), _ab(Segment(a,b))
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{
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assert_release(a.size() == 2 && b.size() == 2 &&
"only 2d segments are supported"
);
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}
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CtcSegment(
const
Segment& ab)
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: Ctc<CtcSegment,
IntervalVector
>(2), _ab(ab)
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{ }
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void
contract(IntervalVector& x)
const
;
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protected
:
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const
Segment _ab;
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};
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}
codac2_Ctc.h
codac2_IntervalVector.h
codac2::IntervalVector
Eigen::Matrix< Interval,-1, 1 > IntervalVector
Alias for a dynamic-size column vector of intervals.
Definition
codac2_IntervalVector.h:25
codac2_Segment.h
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