text: /*
   * Copyright (c) 2014-2016, Humanoid Lab, Georgia Tech Research Corporation
   * Copyright (c) 2014-2017, Graphics Lab, Georgia Tech Research Corporation
   * Copyright (c) 2016-2017, Personal Robotics Lab, Carnegie Mellon University
   * All rights reserved.
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
  #define EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
  
  #include <vector>
  #include <string>
  
  #include <Eigen/Dense>
  
  #include "dart/dart.hpp"
  
  class State;
  
  //==============================================================================
  /// \brief class TerminalCondition
  class TerminalCondition
  {
  public:
    /// \brief Constructor
    TerminalCondition(State* _state);
  
    /// \brief Destructor
    virtual ~TerminalCondition();
  
    /// \brief Check if this condition is satisfied or not.
    virtual bool isSatisfied() = 0;
  
  protected:
    /// \brief State
    State* mState;
  };
  
  //==============================================================================
  /// \brief class TimerCondition
  class TimerCondition : public TerminalCondition
  {
  public:
    /// \brief Constructor
    TimerCondition(State* _state, double _duration);
  
    /// \brief Destructor
    virtual ~TimerCondition();
  
    // Documentation inherited.
    bool isSatisfied() override;
  
  protected:
    /// \brief Duration
    double mDuration;
  };
  
  //==============================================================================
  /// \brief class BodyContactCondition
  class BodyContactCondition : public TerminalCondition
  {
  public:
    /// \brief Constructor
    BodyContactCondition(State* _state, dart::dynamics::BodyNode* _body);
  
    /// \brief Destructor
    virtual ~BodyContactCondition();
  
    // Documentation inherited.
    bool isSatisfied() override;
  
  protected:
    /// \brief Body node to be tested
    dart::dynamics::BodyNode* mBodyNode;
  };
  
  #endif  // EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
  