hpp-core 4.15.1
Implement basic classes for canonical path planning for kinematic chains.
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problem.hh
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1
2//
3// Copyright (c) 2005, 2006, 2007, 2008, 2009, 2010, 2011 CNRS
4// Authors: Florent Lamiraux
5//
6
7// Redistribution and use in source and binary forms, with or without
8// modification, are permitted provided that the following conditions are
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11// 1. Redistributions of source code must retain the above copyright
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30
31#ifndef HPP_CORE_PROBLEM_HH
32#define HPP_CORE_PROBLEM_HH
33
34#include <hpp/core/config.hh>
35#include <hpp/core/container.hh>
36#include <hpp/core/parameter.hh>
38#include <hpp/pinocchio/device.hh>
39#include <hpp/util/pointer.hh>
40#include <stdexcept>
41
42namespace hpp {
43namespace core {
46
58 public:
62
66
71
72 virtual ~Problem();
73
76
78 const DevicePtr_t& robot() const { return robot_; }
79
81 const ConfigurationPtr_t& initConfig() const { return initConf_; }
83 void initConfig(const ConfigurationPtr_t& inConfig);
85 void target(const ProblemTargetPtr_t& target) { target_ = target; }
87 const ProblemTargetPtr_t& target() const { return target_; }
97 void addGoalConfig(const ConfigurationPtr_t& config);
103
105
108
114 steeringMethod_ = sm;
115 if (constraints_) steeringMethod_->constraints(constraints_);
116 }
117
119 SteeringMethodPtr_t steeringMethod() const { return steeringMethod_; }
120
122 void distance(const DistancePtr_t& distance) { distance_ = distance; }
124 const DistancePtr_t& distance() const { return distance_; }
126
129
133 void configValidation(const ConfigValidationsPtr_t& configValidations) {
134 configValidations_ = configValidations;
135 }
138 return configValidations_;
139 }
140
145
149
151 void addConfigValidation(const ConfigValidationPtr_t& configValidation);
152
156 virtual void pathValidation(const PathValidationPtr_t& pathValidation);
157
159 PathValidationPtr_t pathValidation() const { return pathValidation_; }
161
166 const ConfigurationShooterPtr_t& configurationShooter);
167
170 return configurationShooter_;
171 }
173
177 void pathProjector(const PathProjectorPtr_t& pathProjector) {
178 pathProjector_ = pathProjector;
179 }
180
182 PathProjectorPtr_t pathProjector() const { return pathProjector_; }
184
187
192 void constraints(const ConstraintSetPtr_t& constraints) {
193 constraints_ = constraints;
194 if (steeringMethod_) steeringMethod_->constraints(constraints);
195 }
196
198 const ConstraintSetPtr_t& constraints() const { return constraints_; }
200
202 virtual void checkProblem() const;
203
206
214 const CollisionObjectConstPtr_t& obstacle);
215
234
236 void setSecurityMargins(const matrix_t& securityMatrix);
237
241 void collisionObstacles(const ObjectStdVector_t& collisionObstacles);
243
247 const Parameter& getParameter(const std::string& name) const {
248 if (parameters.has(name))
249 return parameters.get(name);
250 else
251 return parameterDescription(name).defaultValue();
252 }
253
260 void setParameter(const std::string& name, const Parameter& value);
261
273 static void declareParameter(const ParameterDescription& desc);
274
277
280 const std::string& name);
281
283
284 protected:
288 Problem(const Problem& other) = default;
289
290 void init(ProblemWkPtr_t wkPtr);
291
292 private:
293 ProblemWkPtr_t wkPtr_;
295 DevicePtr_t robot_;
297 DistancePtr_t distance_;
299 ConfigurationPtr_t initConf_;
301 ProblemTargetPtr_t target_;
303 SteeringMethodPtr_t steeringMethod_;
305 ConfigValidationsPtr_t configValidations_;
307 PathValidationPtr_t pathValidation_;
309 PathProjectorPtr_t pathProjector_;
311 ObjectStdVector_t collisionObstacles_;
313 ConstraintSetPtr_t constraints_;
315 ConfigurationShooterPtr_t configurationShooter_;
316}; // class Problem
318} // namespace core
319} // namespace hpp
320
321#define HPP_START_PARAMETER_DECLARATION(name) \
322 struct HPP_CORE_DLLAPI __InitializerClass_##name { \
323 __InitializerClass_##name() {
324#define HPP_END_PARAMETER_DECLARATION(name) \
325 } \
326 } \
327 ; \
328 extern "C" { \
329 __InitializerClass_##name __instance_##name; \
330 }
331
332#endif // HPP_CORE_PROBLEM_HH
Definition: parameter.hh:128
Definition: parameter.hh:63
Definition: problem.hh:57
void setSecurityMargins(const matrix_t &securityMatrix)
void configValidation(const ConfigValidationsPtr_t &configValidations)
Definition: problem.hh:133
void target(const ProblemTargetPtr_t &target)
Set the target.
Definition: problem.hh:85
PathProjectorPtr_t pathProjector() const
Get path projector method.
Definition: problem.hh:182
const DistancePtr_t & distance() const
Get distance between configuration.
Definition: problem.hh:124
SteeringMethodPtr_t steeringMethod() const
Get steering method.
Definition: problem.hh:119
HPP_CORE_DEPRECATED void resetConfigValidations()
const ProblemTargetPtr_t & target() const
Get the target.
Definition: problem.hh:87
virtual void checkProblem() const
Check that problem is well formulated.
void pathProjector(const PathProjectorPtr_t &pathProjector)
Definition: problem.hh:177
const Parameter & getParameter(const std::string &name) const
Definition: problem.hh:247
void steeringMethod(const SteeringMethodPtr_t &sm)
Definition: problem.hh:113
void addConfigValidation(const ConfigValidationPtr_t &configValidation)
Add a config validation method.
void distance(const DistancePtr_t &distance)
Set distance between configurations.
Definition: problem.hh:122
void filterCollisionPairs()
virtual void pathValidation(const PathValidationPtr_t &pathValidation)
void configurationShooter(const ConfigurationShooterPtr_t &configurationShooter)
Container< Parameter > parameters
Definition: problem.hh:282
static const Container< ParameterDescription > & parameterDescriptions()
Get all the parameter descriptions.
PathValidationPtr_t pathValidation() const
Get path validation method.
Definition: problem.hh:159
const Configurations_t goalConfigs() const
void init(ProblemWkPtr_t wkPtr)
void addGoalConfig(const ConfigurationPtr_t &config)
void setParameter(const std::string &name, const Parameter &value)
static void declareParameter(const ParameterDescription &desc)
static const ParameterDescription & parameterDescription(const std::string &name)
Access one parameter description.
const ConfigValidationsPtr_t & configValidations() const
Get configuration validation methods.
Definition: problem.hh:137
void constraints(const ConstraintSetPtr_t &constraints)
Definition: problem.hh:192
void clearConfigValidations()
static ProblemPtr_t create(DevicePtr_t robot)
ConfigurationShooterPtr_t configurationShooter() const
Get path validation method.
Definition: problem.hh:169
void removeObstacleFromJoint(const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)
void initConfig(const ConfigurationPtr_t &inConfig)
Set initial configuration.
Problem(DevicePtr_t robot)
void collisionObstacles(const ObjectStdVector_t &collisionObstacles)
Set the vector of objects considered for collision detection.
Problem(const Problem &other)=default
const ConstraintSetPtr_t & constraints() const
Get constraint set.
Definition: problem.hh:198
const ObjectStdVector_t & collisionObstacles() const
Vector of objects considered for collision detection.
const DevicePtr_t & robot() const
return shared pointer to robot.
Definition: problem.hh:78
const ConfigurationPtr_t & initConfig() const
Get shared pointer to initial configuration.
Definition: problem.hh:81
void addObstacle(const CollisionObjectPtr_t &object)
static ProblemPtr_t createCopy(const ProblemConstPtr_t &other)
#define HPP_CORE_DLLAPI
Definition: config.hh:64
#define HPP_CORE_DEPRECATED
Definition: deprecated.hh:37
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:184
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:307
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:141
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:98
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:110
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:113
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:323
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:192
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:116
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:196
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:213
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:151
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:109
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:115
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
Definition: bi-rrt-planner.hh:35
Definition: container.hh:76