18 #ifndef HPP_MANIPULATION_STEERING_METHOD_CROSS_STATE_OPTIMIZATION_HH 19 # define HPP_MANIPULATION_STEERING_METHOD_CROSS_STATE_OPTIMIZATION_HH 21 # include <hpp/core/steering-method.hh> 22 # include <hpp/core/config-projector.hh> 31 namespace manipulation {
32 namespace steeringMethod {
90 struct OptimizationData;
108 sameRightHandSide_ ()
110 gatherGraphConstraints ();
115 index_ (other.index_), sameRightHandSide_
116 (other.sameRightHandSide_), weak_ ()
121 void init (CrossStateOptimizationWkPtr_t weak)
128 typedef constraints::solver::BySubstitution Solver_t;
129 struct GraphSearchData;
132 void gatherGraphConstraints ();
136 bool findTransitions (GraphSearchData& data)
const;
139 graph::Edges_t getTransitionList (GraphSearchData& data,
const std::size_t& i)
const;
142 bool buildOptimizationProblem
146 bool solveOptimizationProblem (OptimizationData& d)
const;
148 bool checkConstantRightHandSide (OptimizationData& d,
151 core::PathVectorPtr_t buildPath (OptimizationData& d,
const graph::Edges_t& edges)
const;
153 bool contains (
const Solver_t& solver,
const ImplicitPtr_t& c)
const;
158 std::map < std::string, std::size_t > index_;
162 std::map <ImplicitPtr_t, ImplicitPtr_t> sameRightHandSide_;
165 CrossStateOptimizationWkPtr_t weak_;
169 template <
typename T>
175 gsm->innerSteeringMethod (T::create (problem));
182 #endif // HPP_MANIPULATION_STEERING_METHOD_CROSS_STATE_OPTIMIZATION_HH CrossStateOptimization(const ProblemConstPtr_t &problem)
Definition: cross-state-optimization.hh:106
std::vector< EdgePtr_t > Edges_t
Definition: fwd.hh:46
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:93
shared_ptr< CrossStateOptimization > CrossStateOptimizationPtr_t
Definition: fwd.hh:32
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
static CrossStateOptimizationPtr_t create(const ProblemConstPtr_t &problem)
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
void init(SteeringMethodWkPtr_t weak)
Definition: graph.hh:53
Definition: cross-state-optimization.hh:86
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:120
CrossStateOptimization(const CrossStateOptimization &other)
Definition: cross-state-optimization.hh:113
core::size_type size_type
Definition: fwd.hh:83
void init(CrossStateOptimizationWkPtr_t weak)
Definition: cross-state-optimization.hh:121