hpp-core  4.12.0
Implement basic classes for canonical path planning for kinematic chains.
bi-rrt-planner.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-core
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
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12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_CORE_BIRRT_PLANNER_HH
20 # define HPP_CORE_BIRRT_PLANNER_HH
21 
22 # include <hpp/core/path-planner.hh>
23 
24 namespace hpp {
25  namespace core {
28 
33  {
34  public:
36  static BiRRTPlannerPtr_t createWithRoadmap
37  (const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
39  static BiRRTPlannerPtr_t create (const ProblemConstPtr_t& problem);
41  virtual void startSolve();
43  virtual void oneStep ();
44  protected:
46  BiRRTPlanner (const ProblemConstPtr_t& problem,
47  const RoadmapPtr_t& roadmap);
49  BiRRTPlanner (const ProblemConstPtr_t& problem);
51  void init (const BiRRTPlannerWkPtr_t& weak);
52  PathPtr_t extendInternal (const SteeringMethodPtr_t& sm, Configuration_t& qProj_, const NodePtr_t& near,
53  const Configuration_t& target, bool reverse=false);
54 
57  std::vector<ConnectedComponentPtr_t> endComponents_;
58  private:
59  mutable Configuration_t qProj_;
60  BiRRTPlannerWkPtr_t weakPtr_;
61  };
63  } // namespace core
64 } // namespace hpp
65 #endif // HPP_CORE_BIRRT_PLANNER_HH
ConnectedComponentPtr_t startComponent_
Definition: bi-rrt-planner.hh:56
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:103
Definition: bi-rrt-planner.hh:24
Definition: path-planner.hh:34
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
Definition: bi-rrt-planner.hh:32
Definition: node.hh:35
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:107
std::vector< ConnectedComponentPtr_t > endComponents_
Definition: bi-rrt-planner.hh:57
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition: fwd.hh:81
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
ConfigurationShooterPtr_t configurationShooter_
Definition: bi-rrt-planner.hh:55