29 #ifndef HPP_MANIPULATION_PATH_PLANNER_TRANSITION_PLANNER_HH 30 #define HPP_MANIPULATION_PATH_PLANNER_TRANSITION_PLANNER_HH 32 #include <hpp/core/path-planner.hh> 36 namespace manipulation {
37 namespace pathPlanner {
85 innerPlanner_ = planner;
91 virtual void startSolve();
95 virtual void oneStep();
112 bool validate,
bool& success, std::string& status);
116 PathVectorPtr_t optimizePath(
const PathPtr_t& path);
122 PathVectorPtr_t timeParameterization(
const PathVectorPtr_t& path);
126 void setEdge(std::size_t
id);
129 void setReedsAndSheppSteeringMethod(
double turningRadius);
135 void clearPathOptimizers();
141 void setParameter(
const std::string& key,
const Parameter& value);
156 void init(TransitionPlannerWkPtr_t weak);
162 PathPlannerPtr_t innerPlanner_;
164 std::vector<PathOptimizerPtr_t> pathOptimizers_;
166 TransitionPlannerWkPtr_t weakPtr_;
171 #endif // HPP_MANIPULATION_PATH_PLANNER_TRANSITION_PLANNER_HH core::PathPtr_t PathPtr_t
Definition: transition-planner.hh:71
core::PathProjectorPtr_t PathProjectorPtr_t
Definition: transition-planner.hh:70
core::Parameter Parameter
Definition: transition-planner.hh:75
core::PathVectorPtr_t PathVectorPtr_t
Definition: transition-planner.hh:74
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:68
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
core::PathPlannerPtr_t PathPlannerPtr_t
Definition: transition-planner.hh:69
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:48
shared_ptr< TransitionPlanner > TransitionPlannerPtr_t
Definition: fwd.hh:107
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:66
core::ProblemPtr_t innerProblem() const
Get the inner problem.
Definition: transition-planner.hh:88
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:88
core::matrixIn_t matrixIn_t
Definition: fwd.hh:147
Definition: transition-planner.hh:67
PathPlannerPtr_t innerPlanner() const
Get the inner planner.
Definition: transition-planner.hh:82
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:65
void innerPlanner(const PathPlannerPtr_t &planner)
Set the inner planner.
Definition: transition-planner.hh:84
core::PathProjectorPtr_t PathProjectorPtr_t
Definition: fwd.hh:123
core::PathVector PathVector
Definition: transition-planner.hh:73
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:118
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: transition-planner.hh:72