17 #ifndef HPP_MANIPULATION_PATHOPTIMIZATION_ENFORCE_TRANSITION_SEMANTIC_HH 18 #define HPP_MANIPULATION_PATHOPTIMIZATION_ENFORCE_TRANSITION_SEMANTIC_HH 20 # include <hpp/core/path-optimizer.hh> 25 namespace manipulation {
26 namespace pathOptimization {
27 using hpp::core::Path;
28 using hpp::core::PathPtr_t;
29 using hpp::core::PathVector;
37 typedef shared_ptr<EnforceTransitionSemantic>
Ptr_t;
41 if (!p)
throw std::invalid_argument(
"This is not a manipulation problem.");
45 virtual PathVectorPtr_t optimize (
const PathVectorPtr_t& path);
61 #endif // HPP_MANIPULATION_PATHOPTIMIZATION_ENFORCE_TRANSITION_SEMANTIC_HH shared_ptr< EnforceTransitionSemantic > Ptr_t
Definition: enforce-transition-semantic.hh:37
Definition: enforce-transition-semantic.hh:33
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
Definition: problem.hh:32
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
static Ptr_t create(const core::ProblemConstPtr_t &problem)
Definition: enforce-transition-semantic.hh:39
hpp::core::PathVectorPtr_t PathVectorPtr_t
Definition: enforce-transition-semantic.hh:36
EnforceTransitionSemantic(const ProblemConstPtr_t &problem)
Constructor.
Definition: enforce-transition-semantic.hh:49
core::PathOptimizer PathOptimizer
Definition: fwd.hh:94