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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/task-target.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 |
| Check whether the problem is solved. | |
| PathVectorPtr_t | computePath (const RoadmapPtr_t &roadmap) const |
| void | constraints (const ConstraintSetPtr_t &c) |
| NumericalConstraints_t | constraints () const |
| Return the vector of numerical constraints that define the goal. | |
Public Member Functions inherited from hpp::core::ProblemTarget | |
| virtual | ~ProblemTarget () |
| void | problem (const ProblemPtr_t &problem) |
| Set the problem. | |
Static Public Member Functions | |
| static TaskTargetPtr_t | create (const ProblemPtr_t &problem) |
Protected Member Functions | |
| TaskTarget (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. | |
Task target
This class defines a goal using constraints. The set of goal configurations is a submanifold of the full configuration space.
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inlineprotected |
Constructor.
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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.
| NumericalConstraints_t hpp::core::problemTarget::TaskTarget::constraints | ( | ) | const |
Return the vector of numerical constraints that define the goal.
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inline |
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static |
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virtual |
Check whether the problem is solved.
Implements hpp::core::ProblemTarget.