19 #ifndef HPP_CORE_STEERING_METHOD_HH
20 # define HPP_CORE_STEERING_METHOD_HH
22 # include <hpp/util/debug.hh>
51 path = impl_compute (q1, q2);
53 hppDout (info,
"Could not build path: " << e.
what());
55 assert (q1 != q2 || path);
62 return this->operator() (q1, q2);
72 return problem_.lock();
83 constraints_ = constraints;
96 problem_ (problem), constraints_ (), weak_ ()
103 problem_ (other.problem_), constraints_ (), weak_ ()
105 if (other.constraints_) {
107 other.constraints_->copy ());
114 void init (SteeringMethodWkPtr_t weak)
120 ProblemConstWkPtr_t problem_;
124 SteeringMethodWkPtr_t weak_;
Definition: constraint-set.hh:37
Definition: steering-method.hh:39
virtual ~SteeringMethod()
Definition: steering-method.hh:65
SteeringMethod(const ProblemConstPtr_t &problem)
Constructor.
Definition: steering-method.hh:95
const ConstraintSetPtr_t & constraints() const
Get constraint set.
Definition: steering-method.hh:87
PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Definition: steering-method.hh:60
ProblemConstPtr_t problem() const
Definition: steering-method.hh:70
virtual SteeringMethodPtr_t copy() const =0
Copy instance and return shared pointer.
void init(SteeringMethodWkPtr_t weak)
Store weak pointer to itself.
Definition: steering-method.hh:114
virtual PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const =0
create a path between two configurations
void constraints(const ConstraintSetPtr_t &constraints)
Set constraint set.
Definition: steering-method.hh:81
SteeringMethod(const SteeringMethod &other)
Definition: steering-method.hh:102
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
Definition: bi-rrt-planner.hh:24
Definition: projection-error.hh:27
virtual const char * what() const
Definition: projection-error.hh:40