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hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/problem-target/goal-configurations.hh>


Public Member Functions | |
| void | check (const RoadmapPtr_t &roadmap) const |
| Check if the problem target is well specified. | |
| bool | reached (const RoadmapPtr_t &roadmap) const |
| PathVectorPtr_t | computePath (const RoadmapPtr_t &roadmap) const |
| const Configurations_t & | configurations () const |
| Get goal configurations. | |
| void | addConfiguration (ConfigurationIn_t config) |
| Add goal configuration. | |
| void | resetConfigurations () |
| Reset the set of goal configurations. | |
Public Member Functions inherited from hpp::core::ProblemTarget | |
| virtual | ~ProblemTarget () |
| void | problem (const ProblemPtr_t &problem) |
| Set the problem. | |
Static Public Member Functions | |
| static GoalConfigurationsPtr_t | create (const ProblemPtr_t &problem) |
Protected Member Functions | |
| GoalConfigurations (const ProblemPtr_t &problem) | |
| Constructor. | |
Protected Member Functions inherited from hpp::core::ProblemTarget | |
| ProblemTarget (const ProblemPtr_t &problem) | |
| Constructor. | |
| void | init (const ProblemTargetWkPtr_t &weak) |
| Store weak pointer to itself. | |
Additional Inherited Members | |
Protected Attributes inherited from hpp::core::ProblemTarget | |
| ProblemWkPtr_t | problem_ |
| Reference to the planner for access to problem and roadmap. | |
| ProblemTargetWkPtr_t | weakPtr_ |
| Store weak pointer to itself. | |
Goal configurations
This class defines a goal as a list of goal configurations.
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inlineprotected |
Constructor.
| void hpp::core::problemTarget::GoalConfigurations::addConfiguration | ( | ConfigurationIn_t | config | ) |
Add goal configuration.
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virtual |
Check if the problem target is well specified.
Implements hpp::core::ProblemTarget.
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virtual |
Returns the solution path found. Should be called when reached() returns true.
Implements hpp::core::ProblemTarget.
| const Configurations_t & hpp::core::problemTarget::GoalConfigurations::configurations | ( | ) | const |
Get goal configurations.
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static |
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virtual |
Check if the initial configuration and one of the goal are in the same connected component.
Implements hpp::core::ProblemTarget.
| void hpp::core::problemTarget::GoalConfigurations::resetConfigurations | ( | ) |
Reset the set of goal configurations.