30 #ifndef HPP_CORE_ROADMAP_HH 31 #define HPP_CORE_ROADMAP_HH 36 #include <hpp/util/serialization-fwd.hh> 73 value_type& minDistance,
bool reverse =
false);
76 value_type& minDistance,
bool reverse =
false) {
77 return nearestNode(*configuration, minDistance, reverse);
88 value_type& minDistance,
bool reverse =
false);
92 value_type& minDistance,
bool reverse =
false) {
93 return nearestNode(*configuration, connectedComponent, minDistance,
105 return nearestNodes(*configuration, k);
121 return nearestNodes(*configuration, connectedComponent, k);
197 initNode_ = addNode(config);
202 bool pathExists()
const;
222 std::ostream& print(std::ostream& os)
const;
234 void addConnectedComponent(
const NodePtr_t& node);
249 virtual void impl_addEdge(
const EdgePtr_t& e);
257 void init(RoadmapWkPtr_t weak);
290 RoadmapWkPtr_t weak_;
298 #endif // HPP_CORE_ROADMAP_HH
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
Definition: bi-rrt-planner.hh:35
pinocchio::size_type size_type
Definition: fwd.hh:173
virtual void push_node(const NodePtr_t &n)
Definition: roadmap.hh:238
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:39
std::set< ConnectedComponentPtr_t, SharedComparator > ConnectedComponents_t
Definition: fwd.hh:127
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:141
NodePtr_t addNode(const Configuration_t &config)
Definition: roadmap.hh:63
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:117
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:181
pinocchio::value_type value_type
Definition: fwd.hh:174
std::set< RawPtr_t > RawPtrs_t
Definition: connected-component.hh:46
Roadmap()
Definition: roadmap.hh:229
Nodes_t nearestNodes(const ConfigurationPtr_t &configuration, size_type k)
Definition: roadmap.hh:104
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
const Nodes_t & nodes() const
Definition: roadmap.hh:203
Nodes_t nearestNodes(const ConfigurationPtr_t &configuration, const ConnectedComponentPtr_t &connectedComponent, size_type k)
Definition: roadmap.hh:118
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:109
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:182
std::list< Edge * > Edges_t
Definition: fwd.hh:145
void initNode(const ConfigurationPtr_t &config)
Definition: roadmap.hh:196
void resetGoalNodes()
Definition: roadmap.hh:194
NodePtr_t nearestNode(const ConfigurationPtr_t &configuration, const ConnectedComponentPtr_t &connectedComponent, value_type &minDistance, bool reverse=false)
Definition: roadmap.hh:90
NodePtr_t nearestNode(const ConfigurationPtr_t &configuration, value_type &minDistance, bool reverse=false)
Definition: roadmap.hh:75
const Edges_t & edges() const
Definition: roadmap.hh:204
std::ostream & operator<<(std::ostream &os, const Constraint &constraint)
Definition: constraint.hh:99
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:106
const NodeVector_t & goalNodes() const
Definition: roadmap.hh:206
Definition: roadmap.hh:46
NodePtr_t initNode() const
Definition: roadmap.hh:205
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187