path-planner.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
 
// 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
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_CORE_PATH_PLANNER_HH
#define HPP_CORE_PATH_PLANNER_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
 
namespace hpp {
namespace core {

class HPP_CORE_DLLAPI PathPlanner {
 public:
  virtual ~PathPlanner();

  virtual const RoadmapPtr_t& roadmap() const;
  ProblemConstPtr_t problem() const;
  virtual void startSolve();
  virtual PathVectorPtr_t solve();
  virtual void tryConnectInitAndGoals();

  virtual void oneStep() = 0;
  virtual PathVectorPtr_t finishSolve(const PathVectorPtr_t& path);
  void interrupt();
  void maxIterations(const unsigned long int& n);
  unsigned long int maxIterations() const { return maxIterations_; }
  void timeOut(const double& timeOut);
  double timeOut() const { return timeOut_; }
  void stopWhenProblemIsSolved(bool enable);

  PathVectorPtr_t computePath() const;
 
 protected:
  PathPlanner(const ProblemConstPtr_t& problem);
  PathPlanner(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
  void init(const PathPlannerWkPtr_t& weak);
 
 private:
  const ProblemConstWkPtr_t problem_;
  const RoadmapPtr_t roadmap_;
  bool interrupt_;
  unsigned long int maxIterations_;
  double timeOut_;
  bool stopWhenProblemIsSolved_;

  PathPlannerWkPtr_t weakPtr_;
};  // class PathPlanner

}  //   namespace core
}  // namespace hpp
#endif  // HPP_CORE_PATH_PLANNER_HH