29 #ifndef HPP_MANIPULATION_MANIPULATION_PLANNER_HH 30 #define HPP_MANIPULATION_MANIPULATION_PLANNER_HH 32 #include <hpp/core/path-planner.hh> 33 #include <hpp/statistics/success-bin.hh> 42 namespace manipulation {
47 :
public hpp::core::PathPlanner {
60 virtual void oneStep();
69 core::PathPtr_t& validPath);
87 void init(
const ManipulationPlannerWkPtr_t& weak);
92 std::size_t tryConnectToRoadmap(
const core::Nodes_t nodes);
95 std::size_t tryConnectNewNodes(
const core::Nodes_t nodes);
104 ManipulationPlannerWkPtr_t weakPtr_;
108 typedef ::hpp::statistics::SuccessStatistics SuccessStatistics;
109 typedef ::hpp::statistics::SuccessBin SuccessBin;
110 typedef ::hpp::statistics::SuccessBin::Reason Reason;
112 std::vector<size_type> indexPerEdgeStatistics_;
113 std::vector<SuccessStatistics> perEdgeStatistics_;
117 PATH_PROJECTION_SHORTER = 0,
118 PATH_VALIDATION_SHORTER = 1,
119 REACHED_DESTINATION_NODE = 2,
123 PATH_VALIDATION_ZERO = 6,
124 PATH_PROJECTION_ZERO = 7
126 static const std::vector<Reason> reasons_;
136 #endif // HPP_MANIPULATION_MANIPULATION_PLANNER_HH core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t
Definition: fwd.hh:141
std::list< std::size_t > ErrorFreqs_t
Definition: manipulation-planner.hh:49
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:68
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:48
Definition: manipulation-planner.hh:46
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:66
core::value_type value_type
Definition: fwd.hh:89
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:88
shared_ptr< ManipulationPlanner > ManipulationPlannerPtr_t
Definition: fwd.hh:96
std::list< std::string > StringList_t
Definition: fwd.hh:158
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:49
Definition: roadmap-node.hh:42