hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
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20 #ifndef HPP_CORE_PROBLEM_HH
21 # define HPP_CORE_PROBLEM_HH
25 # include <hpp/pinocchio/device.hh>
26 # include <hpp/util/pointer.hh>
92 void resetGoalConfigs ();
104 steeringMethod_ = sm;
105 if (constraints_) steeringMethod_->constraints (constraints_);
110 return steeringMethod_;
116 distance_ = distance;
133 configValidations_ = configValidations;
138 return configValidations_;
143 void resetConfigValidations ();
147 void clearConfigValidations ();
160 return pathValidation_;
173 return configurationShooter_;
182 pathProjector_ = pathProjector;
188 return pathProjector_;
201 constraints_ = constraints;
202 if (steeringMethod_) steeringMethod_->constraints (constraints);
213 virtual void checkProblem ()
const;
224 void removeObstacleFromJoint (
const JointPtr_t& joint,
244 void filterCollisionPairs ();
247 void setSecurityMargins(
const matrix_t& securityMatrix);
260 if (parameters.has(name))
261 return parameters.get(name);
263 return parameterDescription(name).defaultValue();
272 void setParameter (
const std::string& name,
const Parameter& value);
299 void init (ProblemWkPtr_t wkPtr);
302 ProblemWkPtr_t wkPtr_;
332 #define HPP_START_PARAMETER_DECLARATION(name) \
333 struct HPP_CORE_DLLAPI __InitializerClass_##name { \
334 __InitializerClass_##name () {
336 #define HPP_END_PARAMETER_DECLARATION(name) \
340 __InitializerClass_##name __instance_##name; \
343 #endif // HPP_CORE_PROBLEM_HH
const ConfigurationPtr_t & initConfig() const
Get shared pointer to initial configuration.
Definition: problem.hh:71
boost::shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:103
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:167
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
SteeringMethodPtr_t steeringMethod() const
Get steering method.
Definition: problem.hh:109
void target(const ProblemTargetPtr_t &target)
Set the target.
Definition: problem.hh:78
boost::shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:179
boost::shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:105
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:99
const Parameter & getParameter(const std::string &name) const
Definition: problem.hh:258
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:89
const ConstraintSetPtr_t & constraints() const
Get constraint set.
Definition: problem.hh:206
Definition: parameter.hh:53
void distance(const DistancePtr_t &distance)
Set distance between configurations.
Definition: problem.hh:114
const DevicePtr_t & robot() const
return shared pointer to robot.
Definition: problem.hh:66
void pathProjector(const PathProjectorPtr_t &pathProjector)
Definition: problem.hh:180
Container< Parameter > parameters
Definition: problem.hh:293
boost::shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:306
const DistancePtr_t & distance() const
Get distance between configuration.
Definition: problem.hh:119
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
const ConfigValidationsPtr_t & configValidations() const
Get configuration validation methods.
Definition: problem.hh:136
Definition: basic-configuration-shooter.hh:26
void steeringMethod(const SteeringMethodPtr_t &sm)
Definition: problem.hh:103
boost::shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:194
Definition: container.hh:55
ConfigurationShooterPtr_t configurationShooter() const
Get path validation method.
Definition: problem.hh:171
pinocchio::matrix_t matrix_t
Definition: fwd.hh:145
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
PathValidationPtr_t pathValidation() const
Get path validation method.
Definition: problem.hh:158
const ProblemTargetPtr_t & target() const
Get the target.
Definition: problem.hh:83
PathProjectorPtr_t pathProjector() const
Get path projector method.
Definition: problem.hh:186
boost::shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:106
boost::shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:175
boost::shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:290
Definition: parameter.hh:117
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:100
void configValidation(const ConfigValidationsPtr_t &configValidations)
Definition: problem.hh:131
void constraints(const ConstraintSetPtr_t &constraints)
Definition: problem.hh:199
boost::shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
Definition: problem.hh:48
#define HPP_CORE_DLLAPI
Definition: config.hh:64