search-in-roadmap.hh

Go to the documentation of this file.

//
// Copyright (c) 2024 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_SEARCH_IN_ROADMAP_HH
#define HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH
 
#include <hpp/core/path-planner.hh>
#include <hpp/core/path-planning-failed.hh>
 
namespace hpp {
namespace core {
namespace pathPlanner {
HPP_PREDEF_CLASS(SearchInRoadmap);
typedef shared_ptr<SearchInRoadmap> SearchInRoadmapPtr_t;

class SearchInRoadmap : public PathPlanner {
 public:
  static SearchInRoadmapPtr_t createWithRoadmap(
      const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap) {
    return SearchInRoadmapPtr_t(new SearchInRoadmap(problem, roadmap));
  }

  virtual void tryConnectInitAndGoals() {}
  virtual void oneStep() {
    throw path_planning_failed(
        "SearchInRoadmap: no goal configuration in the connected component"
        "of initial configuration.");
  }
 
 protected:
  SearchInRoadmap(const ProblemConstPtr_t& problem)
      : core::PathPlanner(problem) {}
  SearchInRoadmap(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap)
      : PathPlanner(problem, roadmap) {}
};  

 
}  // namespace pathPlanner
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH