path-planner.hh

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//
// Copyright (c) 2025, CNRS
// Authors: Paul Sardin
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
 
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
 
// 2. Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following
// disclaimer in the documentation and/or other materials provided
// with the distribution.
 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
// INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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// OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef PYHPP_CORE_PATH_PLANNER_HH
#define PYHPP_CORE_PATH_PLANNER_HH
 
#include <hpp/core/path-vector.hh>
#include <hpp/core/problem.hh>
#include <hpp/core/roadmap.hh>
#include <pyhpp/core/problem.hh>
 
namespace pyhpp {
namespace core {
typedef hpp::core::RoadmapPtr_t RoadmapPtr_t;
typedef hpp::core::ProblemConstPtr_t ProblemConstPtr_t;
typedef hpp::core::PathVectorPtr_t PathVectorPtr_t;
 
struct PathPlanner {
  hpp::core::PathPlannerPtr_t obj;
 
  // Methods from hpp::core::PathPlanner
  const RoadmapPtr_t& roadmap() const;
  ProblemConstPtr_t problem() const;
  void startSolve();
  PathVectorPtr_t solve();
  void tryConnectInitAndGoals();
  void oneStep();
  PathVectorPtr_t finishSolve(const PathVectorPtr_t& path);
  void interrupt();
  void maxIterations(const unsigned long int& n);
  unsigned long int maxIterations() const;
  void timeOut(const double& timeOut);
  double timeOut() const;
  void stopWhenProblemIsSolved(bool enable);
  PathVectorPtr_t computePath() const;
 
};  // struct PathPlanner
 
}  // namespace core
}  // namespace pyhpp
 
#endif