BoundaryConstraint.h

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#ifndef PMPL_BOUNDARY_CONSTRAINT_H_
#define PMPL_BOUNDARY_CONSTRAINT_H_
 
#include "Constraint.h"
 
#include <iostream>
 
class Boundary;
class XMLNode;
 
 
class BoundaryConstraint : public Constraint {
 
  public:
 
 
    explicit BoundaryConstraint(Robot* const _r, std::unique_ptr<Boundary>&& _b);
 
    explicit BoundaryConstraint(Robot* const _r, XMLNode& _node);
 
    BoundaryConstraint(const BoundaryConstraint& _other);
 
    virtual ~BoundaryConstraint();
 
    virtual std::unique_ptr<Constraint> Clone() const override;
 
 
    virtual const Boundary* GetBoundary() const override;
 
    virtual bool Satisfied(const Cfg& _c) const override;
 
 
  protected:
 
 
    std::unique_ptr<Boundary> m_boundary; 
 
 
};
 
 
std::ostream& operator<<(std::ostream&, const BoundaryConstraint&);
 
#endif