hpp-manipulation  4.10.1
Classes for manipulation planning.
graph-node-optimizer.hh
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1 // Copyright (c) 2015, LAAS-CNRS
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4 // This file is part of hpp-manipulation.
5 // hpp-manipulation is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 //
10 // hpp-manipulation is distributed in the hope that it will be
11 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
12 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 // General Lesser Public License for more details. You should have
14 // received a copy of the GNU Lesser General Public License along with
15 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
16 
17 #ifndef HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH
18 # define HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH
19 
20 # include <hpp/core/path.hh>
21 # include <hpp/core/path-vector.hh>
22 # include <hpp/core/path-optimizer.hh>
23 # include <hpp/core/problem.hh>
24 # include <hpp/core/problem-solver.hh>
25 
26 # include <hpp/manipulation/fwd.hh>
30 
31 namespace hpp {
32  namespace manipulation {
33  using hpp::core::Path;
34  using hpp::core::PathPtr_t;
35  using hpp::core::PathVector;
36  using hpp::core::PathVectorPtr_t;
37 
40 
47  {
48  public:
49  static GraphNodeOptimizerPtr_t create (const core::Problem& problem);
50 
51  virtual PathVectorPtr_t optimize (const PathVectorPtr_t& path);
52 
53  protected:
55  GraphNodeOptimizer (const core::Problem& problem) :
56  PathOptimizer (problem)
57  {}
58 
59  private:
60  };
62  } // namespace manipulation
63 } // namespace hpp
64 
65 #endif // HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH
GraphNodeOptimizer(const core::Problem &problem)
Constructor.
Definition: graph-node-optimizer.hh:55
Definition: main.hh:1
Definition: graph-node-optimizer.hh:46
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
boost::shared_ptr< GraphNodeOptimizer > GraphNodeOptimizerPtr_t
Definition: fwd.hh:96
core::PathOptimizer PathOptimizer
Definition: fwd.hh:91