hpp-core  4.15.1
Implement basic classes for canonical path planning for kinematic chains.
diffusing-planner.hh
Go to the documentation of this file.
1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux
4 //
5 
6 // Redistribution and use in source and binary forms, with or without
7 // modification, are permitted provided that the following conditions are
8 // met:
9 //
10 // 1. Redistributions of source code must retain the above copyright
11 // notice, this list of conditions and the following disclaimer.
12 //
13 // 2. Redistributions in binary form must reproduce the above copyright
14 // notice, this list of conditions and the following disclaimer in the
15 // documentation and/or other materials provided with the distribution.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28 // DAMAGE.
29 
30 #ifndef HPP_CORE_DIFFUSING_PLANNER_HH
31 #define HPP_CORE_DIFFUSING_PLANNER_HH
32 
33 #include <hpp/core/path-planner.hh>
34 
35 namespace hpp {
36 namespace core {
39 
42  public:
45  static DiffusingPlannerPtr_t createWithRoadmap(
46  const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
48  static DiffusingPlannerPtr_t create(const ProblemConstPtr_t& problem);
52  virtual void startSolve();
54  virtual void oneStep();
56  void configurationShooter(const ConfigurationShooterPtr_t& shooter);
57 
58  protected:
60  DiffusingPlanner(const ProblemConstPtr_t& problem,
61  const RoadmapPtr_t& roadmap);
63  DiffusingPlanner(const ProblemConstPtr_t& problem);
65  void init(const DiffusingPlannerWkPtr_t& weak);
69  virtual PathPtr_t extend(const NodePtr_t& near,
70  const Configuration_t& target);
71 
72  private:
73  ConfigurationShooterPtr_t configurationShooter_;
74  mutable Configuration_t qProj_;
75  DiffusingPlannerWkPtr_t weakPtr_;
76 };
78 } // namespace core
79 } // namespace hpp
80 #endif // HPP_CORE_DIFFUSING_PLANNER_HH
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:113
Generic implementation of RRT algorithm.
Definition: diffusing-planner.hh:41
Definition: bi-rrt-planner.hh:35
Definition: path-planner.hh:45
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
Definition: node.hh:46
PathPlanner Parent_t
Definition: diffusing-planner.hh:43
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition: fwd.hh:140
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:106
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187