19 #ifndef HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH 20 # define HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH 25 # include <pinocchio/spatial/se3.hpp> 27 # include <hpp/pinocchio/frame.hh> 28 # include <hpp/core/path-planner.hh> 31 namespace manipulation {
32 namespace pathPlanner {
40 return impl_solve (target);
44 virtual Configurations_t impl_solve (
vectorIn_t target) = 0;
68 virtual void startSolve ();
71 virtual void oneStep ();
76 {
return nRandomConfig_; }
86 {
return nDiscreteSteps_; }
96 void checkFeasibilityOnly (
bool enable);
100 return feasibilityOnly_;
105 ikSolverInit_ = solver;
108 void tryConnectInitAndGoals ();
120 void init (
const EndEffectorTrajectoryWkPtr_t& weak);
126 EndEffectorTrajectoryWkPtr_t weak_;
134 bool feasibilityOnly_;
140 #endif // HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:58
core::vectorIn_t vectorIn_t
Definition: fwd.hh:86
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:37
Definition: end-effector-trajectory.hh:51
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
Configurations_t solve(vectorIn_t target)
Definition: end-effector-trajectory.hh:38
shared_ptr< IkSolverInitialization > IkSolverInitializationPtr_t
Definition: end-effector-trajectory.hh:46
void nDiscreteSteps(int n)
Definition: end-effector-trajectory.hh:88
int nDiscreteSteps() const
Number of steps to generate goal config (successive projections).
Definition: end-effector-trajectory.hh:85
Definition: end-effector-trajectory.hh:33
int nRandomConfig() const
Definition: end-effector-trajectory.hh:75
bool checkFeasibilityOnly() const
Definition: end-effector-trajectory.hh:98
HPP_PREDEF_CLASS(EndEffectorTrajectory)
void nRandomConfig(int n)
Definition: end-effector-trajectory.hh:78
std::vector< Configuration_t > Configurations_t
Definition: end-effector-trajectory.hh:36
void ikSolverInitialization(IkSolverInitializationPtr_t solver)
Definition: end-effector-trajectory.hh:103
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: end-effector-trajectory.hh:49