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> 37 namespace manipulation {
38 namespace pathPlanner {
86 innerPlanner_ = planner;
92 virtual void startSolve();
96 virtual void oneStep();
113 bool validate,
bool& success, std::string& status);
118 core::ValidationReportPtr_t& report)
const;
122 PathVectorPtr_t optimizePath(
const PathPtr_t& path);
128 PathVectorPtr_t timeParameterization(
const PathVectorPtr_t& path);
132 void setEdge(std::size_t
id);
135 void setReedsAndSheppSteeringMethod(
double turningRadius);
141 void clearPathOptimizers();
147 void setParameter(
const std::string& key,
const Parameter& value);
162 void init(TransitionPlannerWkPtr_t weak);
170 PathPlannerPtr_t innerPlanner_;
172 std::vector<PathOptimizerPtr_t> pathOptimizers_;
176 TransitionPlannerWkPtr_t weakPtr_;
181 #endif // HPP_MANIPULATION_PATH_PLANNER_TRANSITION_PLANNER_HH core::PathPtr_t PathPtr_t
Definition: transition-planner.hh:72
core::PathProjectorPtr_t PathProjectorPtr_t
Definition: transition-planner.hh:71
core::Parameter Parameter
Definition: transition-planner.hh:76
core::PathVectorPtr_t PathVectorPtr_t
Definition: transition-planner.hh:75
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:70
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:89
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:88
core::matrixIn_t matrixIn_t
Definition: fwd.hh:147
Definition: transition-planner.hh:68
PathPlannerPtr_t innerPlanner() const
Get the inner planner.
Definition: transition-planner.hh:83
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:65
void innerPlanner(const PathPlannerPtr_t &planner)
Set the inner planner.
Definition: transition-planner.hh:85
core::PathProjectorPtr_t PathProjectorPtr_t
Definition: fwd.hh:123
core::PathVector PathVector
Definition: transition-planner.hh:74
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:118
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:49
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: transition-planner.hh:73