hpp-core  4.15.1
Implement basic classes for canonical path planning for kinematic chains.
path-planner.hh
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2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux
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29 
30 #ifndef HPP_CORE_PATH_PLANNER_HH
31 #define HPP_CORE_PATH_PLANNER_HH
32 
33 #include <hpp/core/config.hh>
34 #include <hpp/core/fwd.hh>
35 
36 namespace hpp {
37 namespace core {
40 
46  public:
47  virtual ~PathPlanner();
48 
50  virtual const RoadmapPtr_t& roadmap() const;
52  ProblemConstPtr_t problem() const;
56  virtual void startSolve();
65  virtual PathVectorPtr_t solve();
67  virtual void tryConnectInitAndGoals();
68 
70  virtual void oneStep() = 0;
72  virtual PathVectorPtr_t finishSolve(const PathVectorPtr_t& path);
74  void interrupt();
76  void maxIterations(const unsigned long int& n);
78  void timeOut(const double& timeOut);
83  void stopWhenProblemIsSolved(bool enable);
84 
86  PathVectorPtr_t computePath() const;
87 
88  protected:
92  PathPlanner(const ProblemConstPtr_t& problem);
96  PathPlanner(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
98  void init(const PathPlannerWkPtr_t& weak);
99 
100  private:
102  const ProblemConstWkPtr_t problem_;
104  const RoadmapPtr_t roadmap_;
105  bool interrupt_;
108  unsigned long int maxIterations_;
110  double timeOut_;
112  bool stopWhenProblemIsSolved_;
113 
115  PathPlannerWkPtr_t weakPtr_;
116 }; // class PathPlanner
118 } // namespace core
119 } // namespace hpp
120 #endif // HPP_CORE_PATH_PLANNER_HH
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
Definition: bi-rrt-planner.hh:35
Definition: path-planner.hh:45
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
#define HPP_CORE_DLLAPI
Definition: config.hh:64