29 #ifndef HPP_MANIPULATION_PATHOPTIMIZATION_ENFORCE_TRANSITION_SEMANTIC_HH 30 #define HPP_MANIPULATION_PATHOPTIMIZATION_ENFORCE_TRANSITION_SEMANTIC_HH 32 #include <hpp/core/path-optimizer.hh> 36 namespace manipulation {
37 namespace pathOptimization {
38 using hpp::core::Path;
39 using hpp::core::PathPtr_t;
40 using hpp::core::PathVector;
48 typedef shared_ptr<EnforceTransitionSemantic>
Ptr_t;
52 if (!p)
throw std::invalid_argument(
"This is not a manipulation problem.");
56 virtual PathVectorPtr_t optimize(
const PathVectorPtr_t& path);
72 #endif // HPP_MANIPULATION_PATHOPTIMIZATION_ENFORCE_TRANSITION_SEMANTIC_HH shared_ptr< EnforceTransitionSemantic > Ptr_t
Definition: enforce-transition-semantic.hh:48
Definition: enforce-transition-semantic.hh:44
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:67
Definition: problem.hh:43
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
static Ptr_t create(const core::ProblemConstPtr_t &problem)
Definition: enforce-transition-semantic.hh:50
hpp::core::PathVectorPtr_t PathVectorPtr_t
Definition: enforce-transition-semantic.hh:47
EnforceTransitionSemantic(const ProblemConstPtr_t &problem)
Constructor.
Definition: enforce-transition-semantic.hh:60
core::PathOptimizer PathOptimizer
Definition: fwd.hh:102