.. _program_listing_file_include_rmf_fleet_adapter_python_graph_PyOrientationConstraint.hpp:

Program Listing for File PyOrientationConstraint.hpp
====================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rmf_fleet_adapter_python_graph_PyOrientationConstraint.hpp>` (``include/rmf_fleet_adapter_python/graph/PyOrientationConstraint.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2020 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef PYORIENTATIONCONSTRAINT_HPP
   #define PYORIENTATIONCONSTRAINT_HPP
   
   #include <Eigen/Dense>
   #include <vector>
   
   #include "rmf_fleet_adapter/agv/Adapter.hpp"
   #include <rmf_utils/clone_ptr.hpp>
   
   using Graph = rmf_traffic::agv::Graph;
   
   // Trampoline rmf_traffic::agv::Graph::OrientationConstraint wrapper class
   // to allow method overrides from Python
   class PyOrientationConstraint :
     public Graph::OrientationConstraint
   {
   public:
     // Constructor
     using Graph::OrientationConstraint::OrientationConstraint;
   
     bool apply(Eigen::Vector3d& position,
       const Eigen::Vector2d& course_vector) const override
     {
       PYBIND11_OVERLOAD_PURE(
         bool,
         Graph::OrientationConstraint,
         apply,
         position,
         course_vector
       );
     }
   
     rmf_utils::clone_ptr<OrientationConstraint> clone() const override
     {
       PYBIND11_OVERLOAD_PURE(
         rmf_utils::clone_ptr<OrientationConstraint>,
         Graph::OrientationConstraint,
         clone,  // Trailing comma required
       );
     }
   };
   
   #endif // PYORIENTATIONCONSTRAINT_HPP