hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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heuristic.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Steve Tonneau (steve.tonneau@laas.fr)
4//
5// This file is part of hpp-rbprm.
6// hpp-rbprm is free software: you can redistribute it
7// and/or modify it under the terms of the GNU Lesser General Public
8// License as published by the Free Software Foundation, either version
9// 3 of the License, or (at your option) any later version.
10//
11// hpp-rbprm is distributed in the hope that it will be
12// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14// General Lesser Public License for more details. You should have
15// received a copy of the GNU Lesser General Public License along with
16// hpp-core If not, see
17// <http://www.gnu.org/licenses/>.
18
19#ifndef HPP_HEURISTIC_HH
20#define HPP_HEURISTIC_HH
21
23#include <map>
24
25namespace hpp {
26
27namespace rbprm {
28namespace sampling {
29
30struct HeuristicParam;
31
38typedef double (*heuristic)(const sampling::Sample& sample,
39 const Eigen::Vector3d& direction,
40 const Eigen::Vector3d& normal,
41 const HeuristicParam& params);
42
50
51 bool AddHeuristic(const std::string& name, const heuristic func);
52 std::map<std::string, const heuristic> heuristics_;
53};
54
55} // namespace sampling
56} // namespace rbprm
57} // namespace hpp
58#endif // HPP_HEURISTIC_HH
Definition: sample.hh:39
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
double(* heuristic)(const sampling::Sample &sample, const Eigen::Vector3d &direction, const Eigen::Vector3d &normal, const HeuristicParam &params)
Definition: heuristic.hh:38
Definition: algorithm.hh:26
Definition: heuristic.hh:47
bool AddHeuristic(const std::string &name, const heuristic func)
std::map< std::string, const heuristic > heuristics_
Definition: heuristic.hh:52
Defines a parameters set for the ZMP-based heuristic.
Definition: heuristic-tools.hh:13