19 #ifndef HPP_CORE_VISIBILITY_PRM_PLANNER_HH
20 # define HPP_CORE_VISIBILITY_PRM_PLANNER_HH
50 void init (
const VisibilityPrmPlannerWkPtr_t& weak);
52 typedef std::tuple <NodePtr_t, ConfigurationPtr_t, PathPtr_t>
54 typedef std::vector <DelayedEdge_t> DelayedEdges_t;
55 VisibilityPrmPlannerWkPtr_t weakPtr_;
56 DelayedEdges_t delayedEdges_;
57 std::map <NodePtr_t, bool> nodeStatus_;
66 void applyConstraints (
Definition: path-planner.hh:34
Definition: visibility-prm-planner.hh:34
static VisibilityPrmPlannerPtr_t createWithRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Return shared pointer to new object.
static VisibilityPrmPlannerPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
VisibilityPrmPlanner(const ProblemConstPtr_t &problem)
Constructor with roadmap.
void init(const VisibilityPrmPlannerWkPtr_t &weak)
Store weak pointer to itself.
VisibilityPrmPlanner(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Constructor.
virtual void oneStep()
One step of extension.
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition: fwd.hh:206
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:107
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
Definition: bi-rrt-planner.hh:24