18 #ifndef HPP_MANIPULATION_PROBLEM_SOLVER_HH
19 # define HPP_MANIPULATION_PROBLEM_SOLVER_HH
22 # include <hpp/pinocchio/device.hh>
23 # include <hpp/core/problem-solver.hh>
24 # include <hpp/core/container.hh>
32 namespace manipulation {
34 public core::ProblemSolver
38 typedef std::vector <std::string>
Names_t;
52 robot_ = HPP_DYNAMIC_PTR_CAST (
Device, robot);
54 parent_t::robot (robot);
109 const std::string& gripper,
110 const std::string& handle);
118 const std::string& gripper,
119 const std::string& handle);
138 core::Container <graph::GraphPtr_t>
graphs;
Definition: problem-solver.hh:35
void createPreGraspConstraint(const std::string &name, const std::string &gripper, const std::string &handle)
const DevicePtr_t & robot() const
Get robot.
Definition: problem-solver.hh:58
void constraintGraph(const std::string &graph)
Set the constraint graph.
void createPrePlacementConstraint(const std::string &name, const StringList_t &surface1, const StringList_t &surface2, const value_type &width, const value_type &margin=1e-4)
virtual void initializeProblem(ProblemPtr_t problem)
virtual void resetRoadmap()
Create a new Roadmap.
virtual void resetProblem()
Create a new problem.
graph::GraphPtr_t constraintGraph() const
Get the constraint graph.
std::vector< std::string > Names_t
Definition: problem-solver.hh:38
core::ProblemSolver parent_t
Definition: problem-solver.hh:37
void createPlacementConstraint(const std::string &name, const StringList_t &surface1, const StringList_t &surface2, const value_type &margin=1e-4)
core::Container< graph::GraphPtr_t > graphs
Definition: problem-solver.hh:138
virtual void robot(const core::DevicePtr_t &robot)
Definition: problem-solver.hh:50
void initConstraintGraph()
Should be called before any call on the graph is made.
virtual ~ProblemSolver()
Destructor.
Definition: problem-solver.hh:41
ConstraintsAndComplements_t constraintsAndComplements
Definition: problem-solver.hh:140
virtual void pathValidationType(const std::string &type, const value_type &tolerance)
void setTargetState(const graph::StatePtr_t state)
ProblemPtr_t problem() const
Get pointer to problem.
Definition: problem-solver.hh:131
static ProblemSolverPtr_t create()
void createGraspConstraint(const std::string &name, const std::string &gripper, const std::string &handle)
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
std::vector< ConstraintAndComplement_t > ConstraintsAndComplements_t
Definition: constraint-set.hh:82
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
std::vector< GraphComponentWkPtr_t > GraphComponents_t
Definition: fwd.hh:44
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:55
std::list< std::string > StringList_t
Definition: fwd.hh:135
core::value_type value_type
Definition: fwd.hh:82
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29