29 #ifndef HPP_MANIPULATION_PROBLEM_SOLVER_HH 30 #define HPP_MANIPULATION_PROBLEM_SOLVER_HH 32 #include <hpp/core/container.hh> 33 #include <hpp/core/problem-solver.hh> 34 #include <hpp/pinocchio/device.hh> 44 namespace manipulation {
60 robot_ = HPP_DYNAMIC_PTR_CAST(
Device, robot);
62 parent_t::robot(robot);
72 void constraintGraph(
const std::string& graph);
78 void initConstraintGraph();
87 void createPlacementConstraint(
const std::string& name,
99 void createPrePlacementConstraint(
const std::string& name,
113 void createGraspConstraint(
const std::string& name,
114 const std::string& gripper,
115 const std::string& handle);
122 void createPreGraspConstraint(
const std::string& name,
123 const std::string& gripper,
124 const std::string& handle);
126 virtual void pathValidationType(
const std::string& type,
130 virtual void resetProblem();
133 virtual void resetRoadmap();
140 core::Container<graph::GraphPtr_t>
graphs;
160 #endif // HPP_MANIPULATION_PROBLEM_SOLVER_HH
ConstraintsAndComplements_t constraintsAndComplements
Definition: problem-solver.hh:142
core::Container< graph::GraphPtr_t > graphs
Definition: problem-solver.hh:140
core::value_type value_type
Definition: fwd.hh:90
std::vector< ConstraintAndComplement_t > ConstraintsAndComplements_t
Definition: constraint-set.hh:87
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
std::vector< std::string > Names_t
Definition: problem-solver.hh:48
const DevicePtr_t & robot() const
Get robot.
Definition: problem-solver.hh:66
virtual ~ProblemSolver()
Destructor.
Definition: problem-solver.hh:51
ProblemPtr_t problem() const
Get pointer to problem.
Definition: problem-solver.hh:136
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:66
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:40
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:47
std::vector< GraphComponentWkPtr_t > GraphComponents_t
Definition: fwd.hh:55
std::vector< std::string > Strings_t
Definition: fwd.hh:144
shared_ptr< State > StatePtr_t
Definition: fwd.hh:48
core::ProblemSolver parent_t
Definition: problem-solver.hh:47
Definition: problem-solver.hh:45
virtual void robot(const core::DevicePtr_t &robot)
Definition: problem-solver.hh:59