hpp-rbprm  4.14.0
Implementation of RB-PRM planner using hpp.
oriented-path-optimizer.hh
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1 //
2 // Copyright (c) 2017 CNRS
3 // Authors: Pierre Fernbach
4 //
5 // This file is part of hpp-rbprm
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
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14 // General Lesser Public License for more details. You should have
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16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_ORIENTED_PATH_OPTIMIZER_HH
20 #define HPP_RBPRM_ORIENTED_PATH_OPTIMIZER_HH
21 
22 #include <hpp/core/path-optimizer.hh>
25 
26 namespace hpp {
27 namespace rbprm {
30 
40 
41 // forward declaration
42 HPP_PREDEF_CLASS(OrientedPathOptimizer);
43 // Planner objects are manipulated only via shared pointers
44 typedef shared_ptr<OrientedPathOptimizer> OrientedPathOptimizerPtr_t;
45 
46 class OrientedPathOptimizer : public core::PathOptimizer {
47  public:
49  static OrientedPathOptimizerPtr_t create(core::ProblemConstPtr_t problem);
50 
52  virtual core::PathVectorPtr_t optimize(const core::PathVectorPtr_t& path);
53 
54  protected:
55  OrientedPathOptimizer(core::ProblemConstPtr_t problem);
57  const size_t index, const size_t lastIndex,
58  std::vector<bool> replaceValid, std::vector<bool> orientedValid,
59  std::vector<core::KinodynamicOrientedPathPtr_t> orientedPaths,
60  std::vector<core::KinodynamicPathPtr_t> resultPaths);
61 
62  core::PathPtr_t steer(core::ConfigurationIn_t q1,
63  core::ConfigurationIn_t q2) const;
64 
65  private:
67  const RbPrmPathValidationPtr_t rbprmPathValidation_;
68  double sizeFootX_, sizeFootY_;
69  bool rectangularContact_;
70  bool tryJump_;
71  double mu_;
72  bool orientationIgnoreZValue_;
73 
74 }; // class oriented-path-optimizer
76 } // namespace rbprm
77 } // namespace hpp
78 #endif // HPP_RBPRM_ORIENTED_PATH_OPTIMIZER_HH
bool checkReplaceOrientation(const size_t index, const size_t lastIndex, std::vector< bool > replaceValid, std::vector< bool > orientedValid, std::vector< core::KinodynamicOrientedPathPtr_t > orientedPaths, std::vector< core::KinodynamicPathPtr_t > resultPaths)
OrientedPathOptimizer(core::ProblemConstPtr_t problem)
Definition: algorithm.hh:26
static OrientedPathOptimizerPtr_t create(core::ProblemConstPtr_t problem)
Return shared pointer to new object.
shared_ptr< SteeringMethodKinodynamic > SteeringMethodKinodynamicPtr_t
Definition: rbprm-steering-kinodynamic.hh:33
core::PathPtr_t steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
virtual core::PathVectorPtr_t optimize(const core::PathVectorPtr_t &path)
Optimize path.
HPP_PREDEF_CLASS(RbPrmFullBody)
shared_ptr< OrientedPathOptimizer > OrientedPathOptimizerPtr_t
Definition: oriented-path-optimizer.hh:44
shared_ptr< RbPrmPathValidation > RbPrmPathValidationPtr_t
Definition: rbprm-path-validation.hh:31
Definition: oriented-path-optimizer.hh:46