29 #ifndef HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH 30 #define HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH 32 #include <hpp/core/problem-solver.hh> 33 #include <hpp/core/steering-method.hh> 40 namespace manipulation {
46 return steeringMethod_;
60 void init(SteeringMethodWkPtr_t weak) { core::SteeringMethod::init(weak); }
68 namespace steeringMethod {
69 using core::PathPtr_t;
72 typedef core::SteeringMethodBuilder_t SteeringMethodBuilder_t;
87 return createCopy(weak_.lock());
110 template <
typename T>
113 gsm->innerSteeringMethod(T::create(problem));
121 #endif // HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH const core::SteeringMethodPtr_t & innerSteeringMethod() const
Definition: graph.hh:45
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
static GraphPtr_t create(const core::ProblemConstPtr_t &problem)
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:67
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
ProblemConstPtr_t problem_
A pointer to the manipulation problem.
Definition: graph.hh:63
void init(SteeringMethodWkPtr_t weak)
Definition: graph.hh:60
void init(GraphWkPtr_t weak)
Definition: graph.hh:100
core::SteeringMethodPtr_t steeringMethod_
The encapsulated steering method.
Definition: graph.hh:65
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:41
void innerSteeringMethod(const core::SteeringMethodPtr_t &sm)
Definition: graph.hh:49
virtual core::SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: graph.hh:86
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:101