30#ifndef HPP_CORE_PROBLEM_TARGET_GOAL_CONFIGURATIONS_HH
31#define HPP_CORE_PROBLEM_TARGET_GOAL_CONFIGURATIONS_HH
39namespace problemTarget {
Definition: problem-target.hh:45
Definition: goal-configurations.hh:46
PathVectorPtr_t computePath(const RoadmapPtr_t &roadmap) const
void resetConfigurations()
Reset the set of goal configurations.
GoalConfigurations(const ProblemPtr_t &problem)
Constructor.
Definition: goal-configurations.hh:71
void check(const RoadmapPtr_t &roadmap) const
Check if the problem target is well specified.
void addConfiguration(const ConfigurationPtr_t &config)
Add goal configuration.
bool reached(const RoadmapPtr_t &roadmap) const
const Configurations_t & configurations() const
Get goal configurations.
static GoalConfigurationsPtr_t create(const ProblemPtr_t &problem)
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition: fwd.hh:346
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:192
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:109
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:198
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:195
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:108
Definition: bi-rrt-planner.hh:35