29#ifndef HPP_MANIPULATION_PATH_PLANNER_TRANSITION_PLANNER_HH
30#define HPP_MANIPULATION_PATH_PLANNER_TRANSITION_PLANNER_HH
32#include <hpp/core/path-planner.hh>
36namespace manipulation {
37namespace pathPlanner {
79 const core::ProblemConstPtr_t& problem,
80 const core::RoadmapPtr_t& roadmap);
85 innerPlanner_ = planner;
112 bool validate,
bool& success, std::string& status);
154 const core::RoadmapPtr_t& roadmap);
156 void init(TransitionPlannerWkPtr_t weak);
160 core::ProblemPtr_t innerProblem_;
164 std::vector<PathOptimizerPtr_t> pathOptimizers_;
166 TransitionPlannerWkPtr_t weakPtr_;
Definition: transition-planner.hh:67
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:88
core::PathProjectorPtr_t PathProjectorPtr_t
Definition: transition-planner.hh:70
TransitionPlanner(const core::ProblemConstPtr_t &problem, const core::RoadmapPtr_t &roadmap)
void setReedsAndSheppSteeringMethod(double turningRadius)
Create a Reeds and Shepp steering method and path it to the problem.
core::PathVector PathVector
Definition: transition-planner.hh:73
PathPlannerPtr_t innerPlanner() const
Get the inner planner.
Definition: transition-planner.hh:82
void clearPathOptimizers()
Clear path optimizers.
core::PathPlannerPtr_t PathPlannerPtr_t
Definition: transition-planner.hh:69
core::PathVectorPtr_t PathVectorPtr_t
Definition: transition-planner.hh:74
void init(TransitionPlannerWkPtr_t weak)
store weak pointer to itself
static TransitionPlannerPtr_t createWithRoadmap(const core::ProblemConstPtr_t &problem, const core::RoadmapPtr_t &roadmap)
Create instance and return share pointer.
void addPathOptimizer(const PathOptimizerPtr_t &pathOptimizer)
Add a path optimizer.
void innerPlanner(const PathPlannerPtr_t &planner)
Set the inner planner.
Definition: transition-planner.hh:84
virtual void startSolve()
core::ProblemPtr_t innerProblem() const
Get the inner problem.
Definition: transition-planner.hh:88
core::Parameter Parameter
Definition: transition-planner.hh:75
PathPtr_t directPath(ConfigurationIn_t q1, ConfigurationIn_t q2, bool validate, bool &success, std::string &status)
core::PathPtr_t PathPtr_t
Definition: transition-planner.hh:71
PathVectorPtr_t planPath(const Configuration_t qInit, matrixIn_t qGoals, bool resetRoadmap)
void setParameter(const std::string &key, const Parameter &value)
Set parameter to the inner problem.
PathVectorPtr_t timeParameterization(const PathVectorPtr_t &path)
void setEdge(std::size_t id)
void pathProjector(const PathProjectorPtr_t pathProjector)
Set the path projector.
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: transition-planner.hh:72
PathVectorPtr_t optimizePath(const PathPtr_t &path)
shared_ptr< TransitionPlanner > TransitionPlannerPtr_t
Definition: fwd.hh:107
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:48
core::matrixIn_t matrixIn_t
Definition: fwd.hh:147
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49