hpp-core  4.13.0
Implement basic classes for canonical path planning for kinematic chains.
hpp::core::problemTarget::GoalConfigurations Class Reference

#include <hpp/core/problem-target/goal-configurations.hh>

Inheritance diagram for hpp::core::problemTarget::GoalConfigurations:
Collaboration diagram for hpp::core::problemTarget::GoalConfigurations:

Public Member Functions

void check (const RoadmapPtr_t &roadmap) const
 Check if the problem target is well specified. More...
 
bool reached (const RoadmapPtr_t &roadmap) const
 
PathVectorPtr_t computePath (const RoadmapPtr_t &roadmap) const
 
const Configurations_tconfigurations () const
 Get goal configurations. More...
 
void addConfiguration (const ConfigurationPtr_t &config)
 Add goal configuration. More...
 
void resetConfigurations ()
 Reset the set of goal configurations. More...
 
- Public Member Functions inherited from hpp::core::ProblemTarget
virtual ~ProblemTarget ()
 
void problem (const ProblemPtr_t &problem)
 Set the problem. More...
 

Static Public Member Functions

static GoalConfigurationsPtr_t create (const ProblemPtr_t &problem)
 

Protected Member Functions

 GoalConfigurations (const ProblemPtr_t &problem)
 Constructor. More...
 
- Protected Member Functions inherited from hpp::core::ProblemTarget
 ProblemTarget (const ProblemPtr_t &problem)
 Constructor. More...
 
void init (const ProblemTargetWkPtr_t &weak)
 Store weak pointer to itself. More...
 

Additional Inherited Members

- Protected Attributes inherited from hpp::core::ProblemTarget
ProblemWkPtr_t problem_
 Reference to the planner for access to problem and roadmap. More...
 
ProblemTargetWkPtr_t weakPtr_
 Store weak pointer to itself. More...
 

Detailed Description

Goal configurations

This class defines a goal as a list of goal configurations.

Constructor & Destructor Documentation

◆ GoalConfigurations()

hpp::core::problemTarget::GoalConfigurations::GoalConfigurations ( const ProblemPtr_t problem)
inlineprotected

Constructor.

Member Function Documentation

◆ addConfiguration()

void hpp::core::problemTarget::GoalConfigurations::addConfiguration ( const ConfigurationPtr_t config)

Add goal configuration.

◆ check()

void hpp::core::problemTarget::GoalConfigurations::check ( const RoadmapPtr_t roadmap) const
virtual

Check if the problem target is well specified.

Implements hpp::core::ProblemTarget.

◆ computePath()

PathVectorPtr_t hpp::core::problemTarget::GoalConfigurations::computePath ( const RoadmapPtr_t roadmap) const
virtual

Returns the solution path found. Should be called when reached() returns true.

Implements hpp::core::ProblemTarget.

◆ configurations()

const Configurations_t& hpp::core::problemTarget::GoalConfigurations::configurations ( ) const

Get goal configurations.

◆ create()

static GoalConfigurationsPtr_t hpp::core::problemTarget::GoalConfigurations::create ( const ProblemPtr_t problem)
static

◆ reached()

bool hpp::core::problemTarget::GoalConfigurations::reached ( const RoadmapPtr_t roadmap) const
virtual

Check if the initial configuration and one of the goal are in the same connected component.

Note
This test takes into account nodes of the roadmap that are tagged as goal nodes, not the configurations stored in this class. Be careful that those two sets are the same.

Implements hpp::core::ProblemTarget.

◆ resetConfigurations()

void hpp::core::problemTarget::GoalConfigurations::resetConfigurations ( )

Reset the set of goal configurations.


The documentation for this class was generated from the following file: