hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
plan-and-optimize.hh
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//
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// Copyright (c) 2014 CNRS
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// Authors: Florent Lamiraux
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//
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// This file is part of hpp-core
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// hpp-core is free software: you can redistribute it
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// and/or modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation, either version
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// 3 of the License, or (at your option) any later version.
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//
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// hpp-core is distributed in the hope that it will be
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Lesser Public License for more details. You should have
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// received a copy of the GNU Lesser General Public License along with
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// hpp-core If not, see
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// <http://www.gnu.org/licenses/>.
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#ifndef HPP_CORE_PLAN_AND_OPTIMIZE_HH
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# define HPP_CORE_PLAN_AND_OPTIMIZE_HH
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# include <vector>
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# include <
hpp/core/config.hh
>
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# include <
hpp/core/path-planner.hh
>
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namespace
hpp
{
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namespace
core {
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class
HPP_CORE_DLLAPI
PlanAndOptimize
:
public
PathPlanner
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{
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public
:
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static
PlanAndOptimizePtr_t
create (
const
PathPlannerPtr_t
& pathPlanner);
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virtual
void
startSolve ();
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virtual
void
oneStep ();
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virtual
PathVectorPtr_t
finishSolve (
const
PathVectorPtr_t
& path);
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void
addPathOptimizer (
const
PathOptimizerPtr_t
& optimizer);
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protected
:
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PlanAndOptimize
(
const
PathPlannerPtr_t
& pathPlanner);
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private
:
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typedef
std::vector <PathOptimizerPtr_t> Optimizers_t;
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const
PathPlannerPtr_t
pathPlanner_;
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Optimizers_t optimizers_;
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};
// class PlanAndOptimize
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}
// namespace core
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}
// namespace hpp
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# endif // HPP_CORE_PLAN_AND_OPTIMIZE_HH
hpp::core::PlanAndOptimizePtr_t
boost::shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition:
fwd.hh:178
hpp::core::PathOptimizerPtr_t
boost::shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition:
fwd.hh:173
hpp::core::PlanAndOptimize
Definition:
plan-and-optimize.hh:35
hpp::core::PathPlannerPtr_t
boost::shared_ptr< PathPlanner > PathPlannerPtr_t
Definition:
fwd.hh:174
hpp
Definition:
basic-configuration-shooter.hh:26
path-planner.hh
hpp::core::PathPlanner
Definition:
path-planner.hh:34
config.hh
hpp::core::PathVectorPtr_t
boost::shared_ptr< PathVector > PathVectorPtr_t
Definition:
fwd.hh:176
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:64
include
hpp
core
plan-and-optimize.hh
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