hpp-rbprm  4.11.0
Implementation of RB-PRM planner using hpp.
limb-rrt.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau (steve.tonneau@laas.fr)
4 //
5 // This file is part of hpp-rbprm.
6 // hpp-rbprm is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-rbprm is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_LIMB_RRT_HH
20 #define HPP_RBPRM_LIMB_RRT_HH
21 
22 #include <hpp/rbprm/config.hh>
24 #include <hpp/rbprm/rbprm-state.hh>
29 #include <hpp/core/path.hh>
30 #include <hpp/core/problem.hh>
31 #include <hpp/core/config-projector.hh>
32 
33 #include <vector>
34 #include <map>
35 
36 namespace hpp {
37 namespace rbprm {
38 namespace interpolation {
39 
41 
44  void operator()(LimbRRTHelper &helper, const State &from, const State &to) const;
45 };
46 
47 core::PathPtr_t limbRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem,
48  const rbprm::CIT_State &startState, const rbprm::CIT_State &endState,
49  const std::size_t numOptimizations, const std::size_t maxIteration = 0);
50 
51 core::PathPtr_t limbRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem,
52  const PathPtr_t refPath, const CIT_StateFrame &startState,
53  const CIT_StateFrame &endState, const std::size_t numOptimizations);
54 } // namespace interpolation
55 } // namespace rbprm
56 } // namespace hpp
57 
58 #endif // HPP_RBPRM_LIMB_RRT_HH
core::PathPtr_t limbRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const PathPtr_t refPath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
std::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
Definition: algorithm.hh:27
void operator()(LimbRRTHelper &helper, const State &from, const State &to) const
core::PathPtr_t limbRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const rbprm::CIT_State &startState, const rbprm::CIT_State &endState, const std::size_t numOptimizations, const std::size_t maxIteration=0)
T_State::const_iterator CIT_State
Definition: rbprm-state.hh:33
TimeConstraintHelper< TimeConstraintPath, LimbRRTShooterFactory, SetLimbRRTConstraints > LimbRRTHelper
Definition: limb-rrt.hh:40
Definition: rbprm-state.hh:40
Definition: time-constraint-helper.hh:46