20 #ifndef HPP_CORE_PROBLEM_HH
21 # define HPP_CORE_PROBLEM_HH
25 # include <hpp/pinocchio/device.hh>
26 # include <hpp/util/pointer.hh>
108 steeringMethod_ = sm;
109 if (constraints_) steeringMethod_->constraints (constraints_);
114 return steeringMethod_;
120 distance_ = distance;
137 configValidations_ = configValidations;
142 return configValidations_;
152 void clearConfigValidations ();
165 return pathValidation_;
178 return configurationShooter_;
187 pathProjector_ = pathProjector;
193 return pathProjector_;
206 constraints_ = constraints;
207 if (steeringMethod_) steeringMethod_->constraints (constraints);
265 if (parameters.has(name))
266 return parameters.get(name);
268 return parameterDescription(name).defaultValue();
306 void init (ProblemWkPtr_t wkPtr);
309 ProblemWkPtr_t wkPtr_;
339 #define HPP_START_PARAMETER_DECLARATION(name) \
340 struct HPP_CORE_DLLAPI __InitializerClass_##name { \
341 __InitializerClass_##name () {
343 #define HPP_END_PARAMETER_DECLARATION(name) \
347 __InitializerClass_##name __instance_##name; \
Definition: parameter.hh:118
Definition: parameter.hh:54
Definition: problem.hh:49
const Parameter & getParameter(const std::string &name) const
Definition: problem.hh:263
void setSecurityMargins(const matrix_t &securityMatrix)
void configValidation(const ConfigValidationsPtr_t &configValidations)
Definition: problem.hh:135
void target(const ProblemTargetPtr_t &target)
Set the target.
Definition: problem.hh:82
PathProjectorPtr_t pathProjector() const
Get path projector method.
Definition: problem.hh:191
SteeringMethodPtr_t steeringMethod() const
Get steering method.
Definition: problem.hh:113
const ConfigurationPtr_t & initConfig() const
Get shared pointer to initial configuration.
Definition: problem.hh:75
virtual void checkProblem() const
Check that problem is well formulated.
void pathProjector(const PathProjectorPtr_t &pathProjector)
Definition: problem.hh:185
void steeringMethod(const SteeringMethodPtr_t &sm)
Definition: problem.hh:107
const ProblemTargetPtr_t & target() const
Get the target.
Definition: problem.hh:87
void distance(const DistancePtr_t &distance)
Set distance between configurations.
Definition: problem.hh:118
void filterCollisionPairs()
void configurationShooter(const ConfigurationShooterPtr_t &configurationShooter)
void resetConfigValidations() HPP_CORE_DEPRECATED
void resetGoalConfigs()
Reset the set of goal configurations.
void init(ProblemWkPtr_t wkPtr)
const Configurations_t & goalConfigs() const
Get number of goal configuration.
void addGoalConfig(const ConfigurationPtr_t &config)
Add goal configuration.
void setParameter(const std::string &name, const Parameter &value)
static void declareParameter(const ParameterDescription &desc)
const ConstraintSetPtr_t & constraints() const
Get constraint set.
Definition: problem.hh:211
void constraints(const ConstraintSetPtr_t &constraints)
Definition: problem.hh:204
static const ParameterDescription & parameterDescription(const std::string &name)
Access one parameter description.
const DevicePtr_t & robot() const
return shared pointer to robot.
Definition: problem.hh:70
static ProblemPtr_t create(DevicePtr_t robot)
ConfigurationShooterPtr_t configurationShooter() const
Get path validation method.
Definition: problem.hh:176
void removeObstacleFromJoint(const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)
void initConfig(const ConfigurationPtr_t &inConfig)
Set initial configuration.
Problem(DevicePtr_t robot)
void collisionObstacles(const ObjectStdVector_t &collisionObstacles)
Set the vector of objects considered for collision detection.
Problem(const Problem &other)=default
const ObjectStdVector_t & collisionObstacles() const
Vector of objects considered for collision detection.
const ConfigValidationsPtr_t & configValidations() const
Get configuration validation methods.
Definition: problem.hh:140
void addObstacle(const CollisionObjectPtr_t &object)
const DistancePtr_t & distance() const
Get distance between configuration.
Definition: problem.hh:123
Container< Parameter > parameters
Definition: problem.hh:298
static ProblemPtr_t createCopy(const ProblemConstPtr_t &other)
static const Container< ParameterDescription > & parameterDescriptions()
Get all the parameter descriptions.
#define HPP_CORE_DLLAPI
Definition: config.hh:64
#define HPP_CORE_DEPRECATED
Definition: deprecated.hh:32
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:167
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:291
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:89
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:100
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:103
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:307
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:175
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:106
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:179
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:99
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:105
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
pinocchio::matrix_t matrix_t
Definition: fwd.hh:145
Definition: bi-rrt-planner.hh:24
Definition: container.hh:47