hpp-core  4.12.0
Implement basic classes for canonical path planning for kinematic chains.
simple-shortcut.hh
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1 //
2 // Copyright (c) 2019 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-core
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
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14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_CORE_PATH_OPTIMIZATION_SIMPLE_SHORTCUT_HH
20 # define HPP_CORE_PATH_OPTIMIZATION_SIMPLE_SHORTCUT_HH
21 
23 
24 namespace hpp {
25  namespace core {
26  namespace pathOptimization {
38  {
39  public:
41  static SimpleShortcutPtr_t create (const ProblemConstPtr_t& problem);
42 
44  virtual PathVectorPtr_t optimize (const PathVectorPtr_t& path);
45  protected:
46  SimpleShortcut (const ProblemConstPtr_t& problem);
47  }; // class SimpleShortcut
49  } // namespace pathOptimization
50  } // namespace core
51 } // namespace hpp
52 #endif // HPP_CORE_PATH_OPTIMIZATION_SIMPLE_SHORTCUT_HH
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
Definition: bi-rrt-planner.hh:24
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
Definition: path-optimizer.hh:34
shared_ptr< SimpleShortcut > SimpleShortcutPtr_t
Definition: fwd.hh:268
Definition: simple-shortcut.hh:37
#define HPP_CORE_DLLAPI
Definition: config.hh:64