problem.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// DAMAGE.
 
#ifndef HPP_MANIPULATION_PROBLEM_HH
#define HPP_MANIPULATION_PROBLEM_HH
 
#include <hpp/core/problem-solver.hh>  // PathValidationBuilder_t
#include <hpp/core/problem.hh>
#include <hpp/manipulation/device.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
 
namespace hpp {
namespace manipulation {
 
class HPP_MANIPULATION_DLLAPI Problem : public core::Problem {
 public:
  typedef core::Problem Parent;

  static ProblemPtr_t create(DevicePtr_t robot);

  void constraintGraph(const graph::GraphPtr_t& graph);

  graph::GraphPtr_t constraintGraph() const { return graph_; }

  virtual void checkProblem() const;

  PathValidationPtr_t pathValidation() const;

  void pathValidation(const PathValidationPtr_t& pathValidation);

  SteeringMethodPtr_t manipulationSteeringMethod() const;

  PathValidationPtr_t pathValidationFactory() const;
 
  void setPathValidationFactory(const core::PathValidationBuilder_t& factory,
                                const value_type& tol);
 
 protected:
  Problem(DevicePtr_t robot);
 
  void init(ProblemWkPtr_t wkPtr);
 
 private:
  ProblemWkPtr_t wkPtr_;

  graph::GraphPtr_t graph_;
 
  core::PathValidationBuilder_t pvFactory_;
  value_type pvTol_;
};  // class Problem

}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_PROBLEM_HH