17 #ifndef HPP_MANIPULATION_MANIPULATION_PLANNER_HH
18 # define HPP_MANIPULATION_MANIPULATION_PLANNER_HH
20 #include <hpp/core/path-planner.hh>
22 #include <hpp/statistics/success-bin.hh>
32 namespace manipulation {
37 public hpp::core::PathPlanner
79 void init (
const ManipulationPlannerWkPtr_t& weak);
84 std::size_t tryConnectToRoadmap (
const core::Nodes_t nodes);
87 std::size_t tryConnectNewNodes (
const core::Nodes_t nodes);
96 ManipulationPlannerWkPtr_t weakPtr_;
100 typedef ::hpp::statistics::SuccessStatistics SuccessStatistics;
101 typedef ::hpp::statistics::SuccessBin SuccessBin;
102 typedef ::hpp::statistics::SuccessBin::Reason Reason;
104 std::vector<size_type> indexPerEdgeStatistics_;
105 std::vector<SuccessStatistics> perEdgeStatistics_;
109 PATH_PROJECTION_SHORTER = 0,
110 PATH_VALIDATION_SHORTER = 1,
111 REACHED_DESTINATION_NODE = 2,
115 PATH_VALIDATION_ZERO = 6,
116 PATH_PROJECTION_ZERO = 7
118 static const std::vector<Reason> reasons_;
Definition: manipulation-planner.hh:38
ManipulationPlanner(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Protected constructor.
std::list< std::size_t > ErrorFreqs_t
Definition: manipulation-planner.hh:40
static ManipulationPlannerPtr_t create(const core::ProblemConstPtr_t &problem, const core::RoadmapPtr_t &roadmap)
Create an instance and return a shared pointer to the instance.
static StringList_t errorList()
bool extend(RoadmapNodePtr_t q_near, const ConfigurationPtr_t &q_rand, core::PathPtr_t &validPath)
ErrorFreqs_t getEdgeStat(const graph::EdgePtr_t &edge) const
void init(const ManipulationPlannerWkPtr_t &weak)
Store weak pointer to itself.
Definition: roadmap-node.hh:33
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:40
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:58
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:37
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
shared_ptr< ManipulationPlanner > ManipulationPlannerPtr_t
Definition: fwd.hh:89
std::list< std::string > StringList_t
Definition: fwd.hh:135
core::value_type value_type
Definition: fwd.hh:82
core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t
Definition: fwd.hh:118