guided-state-selector.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.
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// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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#ifndef HPP_MANIPULATION_GRAPH_GUIDED_STATE_SELECTOR_HH
#define HPP_MANIPULATION_GRAPH_GUIDED_STATE_SELECTOR_HH
 
#include "hpp/manipulation/fwd.hh"
#include "hpp/manipulation/graph/fwd.hh"
#include "hpp/manipulation/graph/state-selector.hh"
 
namespace hpp {
namespace manipulation {
namespace graph {
class HPP_MANIPULATION_DLLAPI GuidedStateSelector : public StateSelector {
 public:
  static GuidedStateSelectorPtr_t create(const std::string& name,
                                         const core::RoadmapPtr_t& roadmap);

  void setStateList(const States_t& stateList);

  virtual EdgePtr_t chooseEdge(RoadmapNodePtr_t from) const;

  std::ostream& dotPrint(std::ostream& os, dot::DrawingAttributes da =
                                               dot::DrawingAttributes()) const;
 
 protected:
  void init(const GuidedStateSelectorPtr_t& weak);

  GuidedStateSelector(const std::string& name, const core::RoadmapPtr_t roadmap)
      : StateSelector(name), roadmap_(roadmap) {}

  std::ostream& print(std::ostream& os) const;
 
 private:
  States_t stateList_;

  core::RoadmapPtr_t roadmap_;

  GuidedStateSelectorWkPtr_t wkPtr_;
};  // Class StateSelector
}  // namespace graph
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_GRAPH_GUIDED_STATE_SELECTOR_HH