29 #ifndef HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH 30 #define HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH 32 #include <hpp/core/path-planner.hh> 35 #include <hpp/pinocchio/frame.hh> 36 #include <pinocchio/spatial/se3.hpp> 39 namespace manipulation {
40 namespace pathPlanner {
48 virtual Configurations_t impl_solve(
vectorIn_t target) = 0;
71 virtual void startSolve();
74 virtual void oneStep();
95 void checkFeasibilityOnly(
bool enable);
100 ikSolverInit_ = solver;
103 void tryConnectInitAndGoals();
115 void init(
const EndEffectorTrajectoryWkPtr_t& weak);
118 std::vector<core::Configuration_t> configurations(
122 EndEffectorTrajectoryWkPtr_t weak_;
130 bool feasibilityOnly_;
136 #endif // HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:69
core::vectorIn_t vectorIn_t
Definition: fwd.hh:94
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:48
Definition: end-effector-trajectory.hh:55
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:67
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
Configurations_t solve(vectorIn_t target)
Definition: end-effector-trajectory.hh:45
shared_ptr< IkSolverInitialization > IkSolverInitializationPtr_t
Definition: end-effector-trajectory.hh:50
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:86
Definition: end-effector-trajectory.hh:41
int nRandomConfig() const
Definition: end-effector-trajectory.hh:78
bool checkFeasibilityOnly() const
Definition: end-effector-trajectory.hh:97
HPP_PREDEF_CLASS(EndEffectorTrajectory)
void nRandomConfig(int n)
Definition: end-effector-trajectory.hh:80
std::vector< Configuration_t > Configurations_t
Definition: end-effector-trajectory.hh:43
void ikSolverInitialization(IkSolverInitializationPtr_t solver)
Definition: end-effector-trajectory.hh:99
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: end-effector-trajectory.hh:53