18 #ifndef HPP_MANIPULATION_GRAPHOPTIMIZER_HH 19 # define HPP_MANIPULATION_GRAPHOPTIMIZER_HH 21 # include <hpp/core/path-optimizer.hh> 22 # include <hpp/core/problem-solver.hh> 29 namespace manipulation {
30 using hpp::core::Path;
31 using hpp::core::PathPtr_t;
32 using hpp::core::PathVector;
33 using hpp::core::PathVectorPtr_t;
48 template <
typename TraitsOrInnerType>
52 virtual PathVectorPtr_t optimize (
const PathVectorPtr_t& path);
57 return pathOptimizer_;
63 PathOptimizerBuilder_t factory) :
64 PathOptimizer (problem), factory_ (factory), pathOptimizer_ ()
68 PathOptimizerBuilder_t factory_;
76 template <
typename TraitsOrInnerType>
88 #endif // HPP_MANIPULATION_GRAPHOPTIMIZER_HH const PathOptimizerPtr_t & innerOptimizer()
Get the encapsulated optimizer.
Definition: graph-optimizer.hh:55
Definition: graph-optimizer.hh:43
GraphOptimizer(const core::ProblemConstPtr_t &problem, PathOptimizerBuilder_t factory)
Constructor.
Definition: graph-optimizer.hh:62
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
shared_ptr< GraphOptimizer > GraphOptimizerPtr_t
Definition: fwd.hh:97
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
static GraphOptimizerPtr_t create(const core::ProblemConstPtr_t &problem)
Member function definition.
Definition: graph-optimizer.hh:78
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:95
core::PathOptimizerBuilder_t PathOptimizerBuilder_t
Definition: graph-optimizer.hh:46
core::PathOptimizer PathOptimizer
Definition: fwd.hh:94