18 #ifndef HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH 19 # define HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH 21 # include <hpp/core/problem-solver.hh> 22 # include <hpp/core/steering-method.hh> 30 namespace manipulation {
38 return steeringMethod_;
53 void init (SteeringMethodWkPtr_t weak)
55 core::SteeringMethod::init (weak);
64 namespace steeringMethod {
65 using core::PathPtr_t;
69 typedef core::SteeringMethodBuilder_t SteeringMethodBuilder_t;
75 (
const core::Problem& problem);
79 (
const core::Problem& problem);
91 return createCopy (weak_.lock ());
114 template <
typename T>
116 (
const core::Problem& problem)
119 gsm->innerSteeringMethod (T::create (problem));
127 #endif // HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH const core::SteeringMethodPtr_t & innerSteeringMethod() const
Definition: graph.hh:36
boost::shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:90
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
boost::shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:30
Definition: problem.hh:32
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
void init(SteeringMethodWkPtr_t weak)
Definition: graph.hh:53
void init(GraphWkPtr_t weak)
Definition: graph.hh:103
core::SteeringMethodPtr_t steeringMethod_
The encapsulated steering method.
Definition: graph.hh:61
const Problem & problem_
A pointer to the manipulation problem.
Definition: graph.hh:59
void innerSteeringMethod(const core::SteeringMethodPtr_t &sm)
Definition: graph.hh:41
virtual core::SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: graph.hh:89
void impl_compute(result_ref, const_argument_ref) const