hpp-core  4.12.0
Implement basic classes for canonical path planning for kinematic chains.
random-shortcut.hh
Go to the documentation of this file.
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 //
11 // hpp-core is distributed in the hope that it will be
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_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
20 # define HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
21 
23 
24 namespace hpp {
25  namespace core {
26  namespace pathOptimization {
29 
39  {
40  public:
42  static RandomShortcutPtr_t create (const ProblemConstPtr_t& problem);
43 
45  virtual PathVectorPtr_t optimize (const PathVectorPtr_t& path);
46  protected:
47  RandomShortcut (const ProblemConstPtr_t& problem);
48 
55  virtual bool shootTimes (const PathVectorPtr_t& currentOpt,
56  const value_type& t0,
57  value_type& t1,
58  value_type& t2,
59  const value_type& t3);
60  }; // class RandomShortcut
62  } // namespace pathOptimization
63  } // namespace core
64 } // namespace hpp
65 #endif // HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
Definition: bi-rrt-planner.hh:24
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition: fwd.hh:266
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
Definition: path-optimizer.hh:34
pinocchio::value_type value_type
Definition: fwd.hh:157
Definition: random-shortcut.hh:38
#define HPP_CORE_DLLAPI
Definition: config.hh:64