hpp::core::problemTarget::GoalConfigurations Class Reference

#include <hpp/core/problem-target/goal-configurations.hh>

Inheritance diagram for hpp::core::problemTarget::GoalConfigurations:

Collaboration diagram for hpp::core::problemTarget::GoalConfigurations:

Public Member Functions
void	check (const RoadmapPtr_t &roadmap) const
	Check if the problem target is well specified. More...
bool	reached (const RoadmapPtr_t &roadmap) const
PathVectorPtr_t	computePath (const RoadmapPtr_t &roadmap) const
const Configurations_t &	configurations () const
	Get goal configurations. More...
void	addConfiguration (const ConfigurationPtr_t &config)
	Add goal configuration. More...
void	resetConfigurations ()
	Reset the set of goal configurations. More...
Public Member Functions inherited from hpp::core::ProblemTarget
virtual	~ProblemTarget ()
void	problem (const ProblemPtr_t &problem)
	Set the problem. More...

Static Public Member Functions
static GoalConfigurationsPtr_t	create (const ProblemPtr_t &problem)

Protected Member Functions
	GoalConfigurations (const ProblemPtr_t &problem)
	Constructor. More...
Protected Member Functions inherited from hpp::core::ProblemTarget
	ProblemTarget (const ProblemPtr_t &problem)
	Constructor. More...
void	init (const ProblemTargetWkPtr_t &weak)
	Store weak pointer to itself. More...

Additional Inherited Members
Protected Attributes inherited from hpp::core::ProblemTarget
ProblemWkPtr_t	problem_
	Reference to the planner for access to problem and roadmap. More...
ProblemTargetWkPtr_t	weakPtr_
	Store weak pointer to itself. More...

Detailed Description

Goal configurations

This class defines a goal as a list of goal configurations.

Constructor & Destructor Documentation

GoalConfigurations()

hpp::core::problemTarget::GoalConfigurations::GoalConfigurations ( const ProblemPtr_t &  problem )

inlineprotected

Constructor.

Member Function Documentation

addConfiguration()

void hpp::core::problemTarget::GoalConfigurations::addConfiguration

(

const ConfigurationPtr_t &

config

)

Add goal configuration.

check()

void hpp::core::problemTarget::GoalConfigurations::check ( const RoadmapPtr_t &  roadmap ) const

virtual

Check if the problem target is well specified.

Implements hpp::core::ProblemTarget.

computePath()

PathVectorPtr_t hpp::core::problemTarget::GoalConfigurations::computePath ( const RoadmapPtr_t &  roadmap ) const

virtual

Returns the solution path found. Should be called when reached() returns true.

Implements hpp::core::ProblemTarget.

configurations()

const Configurations_t& hpp::core::problemTarget::GoalConfigurations::configurations

(

)

const

Get goal configurations.

create()

static GoalConfigurationsPtr_t hpp::core::problemTarget::GoalConfigurations::create ( const ProblemPtr_t &  problem )

static

reached()

bool hpp::core::problemTarget::GoalConfigurations::reached ( const RoadmapPtr_t &  roadmap ) const

virtual

Check if the initial configuration and one of the goal are in the same connected component.

Note

This test takes into account nodes of the roadmap that are tagged as goal nodes, not the configurations stored in this class. Be careful that those two sets are the same.

Implements hpp::core::ProblemTarget.

resetConfigurations()

void hpp::core::problemTarget::GoalConfigurations::resetConfigurations

(

)

Reset the set of goal configurations.

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The documentation for this class was generated from the following file:

• include/hpp/core/problem-target/goal-configurations.hh