18 #ifndef HPP_MANIPULATION_GRAPHOPTIMIZER_HH 19 # define HPP_MANIPULATION_GRAPHOPTIMIZER_HH 21 # include <hpp/core/path-optimizer.hh> 22 # include <hpp/core/problem-solver.hh> 29 namespace manipulation {
30 using hpp::core::Path;
31 using hpp::core::PathPtr_t;
32 using hpp::core::PathVector;
33 using hpp::core::PathVectorPtr_t;
48 template <
typename TraitsOrInnerType>
51 virtual PathVectorPtr_t optimize (
const PathVectorPtr_t& path);
56 return pathOptimizer_;
61 GraphOptimizer (
const core::Problem& problem, PathOptimizerBuilder_t factory) :
62 PathOptimizer (problem), factory_ (factory), pathOptimizer_ ()
66 PathOptimizerBuilder_t factory_;
74 template <
typename TraitsOrInnerType>
76 (
const core::Problem& problem)
86 #endif // HPP_MANIPULATION_GRAPHOPTIMIZER_HH const PathOptimizerPtr_t & innerOptimizer()
Get the encapsulated optimizer.
Definition: graph-optimizer.hh:54
boost::shared_ptr< GraphOptimizer > GraphOptimizerPtr_t
Definition: fwd.hh:94
Definition: graph-optimizer.hh:43
static GraphOptimizerPtr_t create(const core::Problem &problem)
Member function definition.
Definition: graph-optimizer.hh:76
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:92
core::PathOptimizerBuilder_t PathOptimizerBuilder_t
Definition: graph-optimizer.hh:46
core::PathOptimizer PathOptimizer
Definition: fwd.hh:91
GraphOptimizer(const core::Problem &problem, PathOptimizerBuilder_t factory)
Constructor.
Definition: graph-optimizer.hh:61