hpp-core
4.14.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/problem-target/goal-configurations.hh>
Public Member Functions | |
void | check (const RoadmapPtr_t &roadmap) const |
Check if the problem target is well specified. More... | |
bool | reached (const RoadmapPtr_t &roadmap) const |
PathVectorPtr_t | computePath (const RoadmapPtr_t &roadmap) const |
const Configurations_t & | configurations () const |
Get goal configurations. More... | |
void | addConfiguration (const ConfigurationPtr_t &config) |
Add goal configuration. More... | |
void | resetConfigurations () |
Reset the set of goal configurations. More... | |
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virtual | ~ProblemTarget () |
void | problem (const ProblemPtr_t &problem) |
Set the problem. More... | |
Static Public Member Functions | |
static GoalConfigurationsPtr_t | create (const ProblemPtr_t &problem) |
Protected Member Functions | |
GoalConfigurations (const ProblemPtr_t &problem) | |
Constructor. More... | |
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ProblemTarget (const ProblemPtr_t &problem) | |
Constructor. More... | |
void | init (const ProblemTargetWkPtr_t &weak) |
Store weak pointer to itself. More... | |
Additional Inherited Members | |
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ProblemWkPtr_t | problem_ |
Reference to the planner for access to problem and roadmap. More... | |
ProblemTargetWkPtr_t | weakPtr_ |
Store weak pointer to itself. More... | |
Goal configurations
This class defines a goal as a list of goal configurations.
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inlineprotected |
Constructor.
void hpp::core::problemTarget::GoalConfigurations::addConfiguration | ( | const ConfigurationPtr_t & | config | ) |
Add goal configuration.
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virtual |
Check if the problem target is well specified.
Implements hpp::core::ProblemTarget.
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virtual |
Returns the solution path found. Should be called when reached() returns true.
Implements hpp::core::ProblemTarget.
const Configurations_t& hpp::core::problemTarget::GoalConfigurations::configurations | ( | ) | const |
Get goal configurations.
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static |
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virtual |
Check if the initial configuration and one of the goal are in the same connected component.
Implements hpp::core::ProblemTarget.
void hpp::core::problemTarget::GoalConfigurations::resetConfigurations | ( | ) |
Reset the set of goal configurations.