17 #ifndef HPP_MANIPULATION_PROBLEM_HH
18 # define HPP_MANIPULATION_PROBLEM_HH
20 # include <hpp/core/problem.hh>
21 # include <hpp/core/problem-solver.hh>
28 namespace manipulation {
69 const core::PathValidationBuilder_t& factory,
76 void init (ProblemWkPtr_t wkPtr);
79 ProblemWkPtr_t wkPtr_;
84 core::PathValidationBuilder_t pvFactory_;
Definition: problem.hh:33
graph::GraphPtr_t constraintGraph() const
Get the graph of constraints.
Definition: problem.hh:44
void constraintGraph(const graph::GraphPtr_t &graph)
Set the graph of constraints.
Problem(DevicePtr_t robot)
Constructor.
void setPathValidationFactory(const core::PathValidationBuilder_t &factory, const value_type &tol)
static ProblemPtr_t create(DevicePtr_t robot)
Constructor.
PathValidationPtr_t pathValidationFactory() const
PathValidationPtr_t pathValidation() const
Expose parent method.
SteeringMethodPtr_t manipulationSteeringMethod() const
Get the steering method as a SteeringMethod.
void pathValidation(const PathValidationPtr_t &pathValidation)
core::Problem Parent
Definition: problem.hh:35
virtual void checkProblem() const
Check whether the problem is well formulated.
void init(ProblemWkPtr_t wkPtr)
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:55
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:93
core::PathValidationPtr_t PathValidationPtr_t
Definition: fwd.hh:121
core::value_type value_type
Definition: fwd.hh:82
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29