hpp-manipulation  4.10.1
Classes for manipulation planning.
small-steps.hh
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1 // Copyright (c) 2016, Joseph Mirabel
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4 // This file is part of hpp-manipulation.
5 // hpp-manipulation is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 //
10 // hpp-manipulation is distributed in the hope that it will be
11 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
12 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 // General Lesser Public License for more details. You should have
14 // received a copy of the GNU Lesser General Public License along with
15 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
16 
17 #ifndef HPP_MANIPULATION_PATHOPTIMIZATION_SMALLSTEPS_HH
18 #define HPP_MANIPULATION_PATHOPTIMIZATION_SMALLSTEPS_HH
19 
20 #include <hpp/manipulation/fwd.hh>
22 
23 #include <hpp/core/path-optimizer.hh>
24 
25 namespace hpp {
26  namespace manipulation {
27  namespace pathOptimization {
28  using hpp::core::Path;
29  using hpp::core::PathPtr_t;
30  using hpp::core::PathVector;
31  using hpp::core::PathVectorPtr_t;
32 
35 
40  {
41  public:
42  static SmallStepsPtr_t create (const core::Problem& problem)
43  {
44  SmallSteps* ptr (new SmallSteps (problem));
45  return SmallStepsPtr_t (ptr);
46  }
47 
48  PathVectorPtr_t optimize (const PathVectorPtr_t& path);
49 
50  protected:
52  SmallSteps (const core::Problem& problem) :
53  PathOptimizer (problem)
54  {}
55  };
57 
58  } // namespace pathOptimization
59  } // namespace manipulation
60 } // namespace hpp
61 
62 #endif // HPP_MANIPULATION_PATHOPTIMIZATION_SMALLSTEPS_HH
Definition: main.hh:1
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
static SmallStepsPtr_t create(const core::Problem &problem)
Definition: small-steps.hh:42
SmallSteps(const core::Problem &problem)
Constructor.
Definition: small-steps.hh:52
core::PathOptimizer PathOptimizer
Definition: fwd.hh:91
boost::shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:136