31 #ifndef HPP_CORE_PROBLEM_HH 32 #define HPP_CORE_PROBLEM_HH 38 #include <hpp/pinocchio/device.hh> 39 #include <hpp/util/pointer.hh> 102 void resetGoalConfigs();
114 steeringMethod_ = sm;
115 if (constraints_) steeringMethod_->constraints(constraints_);
134 configValidations_ = configValidations;
138 return configValidations_;
143 void clearConfigValidations();
160 void configurationShooter(
165 return configurationShooter_;
173 pathProjector_ = pathProjector;
188 constraints_ = constraints;
189 if (steeringMethod_) steeringMethod_->constraints(constraints);
197 virtual void checkProblem()
const;
208 void removeObstacleFromJoint(
const JointPtr_t& joint,
228 void filterCollisionPairs();
231 void setSecurityMargins(
const matrix_t& securityMatrix);
243 if (parameters.has(name))
244 return parameters.get(name);
246 return parameterDescription(name).defaultValue();
255 void setParameter(
const std::string& name,
const Parameter& value);
275 const std::string& name);
285 void init(ProblemWkPtr_t wkPtr);
288 ProblemWkPtr_t wkPtr_;
316 #define HPP_START_PARAMETER_DECLARATION(name) \ 317 struct HPP_CORE_DLLAPI __InitializerClass_##name { \ 318 __InitializerClass_##name() { 319 #define HPP_END_PARAMETER_DECLARATION(name) \ 324 __InitializerClass_##name __instance_##name; \ 327 #endif // HPP_CORE_PROBLEM_HH const DistancePtr_t & distance() const
Get distance between configuration.
Definition: problem.hh:124
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:113
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
void steeringMethod(const SteeringMethodPtr_t &sm)
Definition: problem.hh:113
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:108
Definition: problem.hh:57
Definition: bi-rrt-planner.hh:35
ConfigurationShooterPtr_t configurationShooter() const
Get path validation method.
Definition: problem.hh:164
const ConfigValidationsPtr_t & configValidations() const
Get configuration validation methods.
Definition: problem.hh:137
Container< Parameter > parameters
Definition: problem.hh:277
PathValidationPtr_t pathValidation() const
Get path validation method.
Definition: problem.hh:154
Definition: parameter.hh:128
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:99
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:151
Definition: container.hh:76
void configValidation(const ConfigValidationsPtr_t &configValidations)
Definition: problem.hh:133
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:115
PathProjectorPtr_t pathProjector() const
Get path projector method.
Definition: problem.hh:177
const Configuration_t & initConfig() const
Get shared pointer to initial configuration.
Definition: problem.hh:81
const ProblemTargetPtr_t & target() const
Get the target.
Definition: problem.hh:87
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:323
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:141
Definition: parameter.hh:63
SteeringMethodPtr_t steeringMethod() const
Get steering method.
Definition: problem.hh:119
void constraints(const ConstraintSetPtr_t &constraints)
Definition: problem.hh:187
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:116
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
void target(const ProblemTargetPtr_t &target)
Set the target.
Definition: problem.hh:85
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:196
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:213
void distance(const DistancePtr_t &distance)
Set distance between configurations.
Definition: problem.hh:122
std::vector< Configuration_t > Configurations_t
Definition: fwd.hh:110
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:192
void pathProjector(const PathProjectorPtr_t &pathProjector)
Definition: problem.hh:172
const Parameter & getParameter(const std::string &name) const
Definition: problem.hh:242
#define HPP_CORE_DLLAPI
Definition: config.hh:88
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:107
const ConstraintSetPtr_t & constraints() const
Get constraint set.
Definition: problem.hh:193
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:100
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:307
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:184
const DevicePtr_t & robot() const
return shared pointer to robot.
Definition: problem.hh:78