hpp-core
4.12.0
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>
96 void resetGoalConfigs ();
108 steeringMethod_ = sm;
109 if (constraints_) steeringMethod_->constraints (constraints_);
114 return steeringMethod_;
120 distance_ = distance;
137 configValidations_ = configValidations;
142 return configValidations_;
152 void clearConfigValidations ();
165 return pathValidation_;
178 return configurationShooter_;
187 pathProjector_ = pathProjector;
193 return pathProjector_;
206 constraints_ = constraints;
207 if (steeringMethod_) steeringMethod_->constraints (constraints);
218 virtual void checkProblem ()
const;
229 void removeObstacleFromJoint (
const JointPtr_t& joint,
249 void filterCollisionPairs ();
252 void setSecurityMargins(
const matrix_t& securityMatrix);
265 if (parameters.has(name))
266 return parameters.get(name);
268 return parameterDescription(name).defaultValue();
277 void setParameter (
const std::string& name,
const Parameter& value);
306 void init (ProblemWkPtr_t wkPtr);
309 ProblemWkPtr_t wkPtr_;
339 #define HPP_START_PARAMETER_DECLARATION(name) \
340 struct HPP_CORE_DLLAPI __InitializerClass_##name { \
341 __InitializerClass_##name () {
343 #define HPP_END_PARAMETER_DECLARATION(name) \
347 __InitializerClass_##name __instance_##name; \
350 #endif // HPP_CORE_PROBLEM_HH
const ConfigurationPtr_t & initConfig() const
Get shared pointer to initial configuration.
Definition: problem.hh:75
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:175
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:113
void target(const ProblemTargetPtr_t &target)
Set the target.
Definition: problem.hh:82
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:99
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
const Parameter & getParameter(const std::string &name) const
Definition: problem.hh:263
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
#define HPP_CORE_DEPRECATED
Definition: deprecated.hh:32
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:89
const ConstraintSetPtr_t & constraints() const
Get constraint set.
Definition: problem.hh:211
Definition: parameter.hh:53
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:106
void distance(const DistancePtr_t &distance)
Set distance between configurations.
Definition: problem.hh:118
const DevicePtr_t & robot() const
return shared pointer to robot.
Definition: problem.hh:70
void pathProjector(const PathProjectorPtr_t &pathProjector)
Definition: problem.hh:185
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:105
Container< Parameter > parameters
Definition: problem.hh:298
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:307
const DistancePtr_t & distance() const
Get distance between configuration.
Definition: problem.hh:123
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
const ConfigValidationsPtr_t & configValidations() const
Get configuration validation methods.
Definition: problem.hh:140
Definition: bi-rrt-planner.hh:24
void steeringMethod(const SteeringMethodPtr_t &sm)
Definition: problem.hh:107
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:291
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:179
Definition: container.hh:46
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
ConfigurationShooterPtr_t configurationShooter() const
Get path validation method.
Definition: problem.hh:176
pinocchio::matrix_t matrix_t
Definition: fwd.hh:145
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
const ProblemTargetPtr_t & target() const
Get the target.
Definition: problem.hh:87
PathProjectorPtr_t pathProjector() const
Get path projector method.
Definition: problem.hh:191
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:103
Definition: parameter.hh:117
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:100
void configValidation(const ConfigValidationsPtr_t &configValidations)
Definition: problem.hh:135
void constraints(const ConstraintSetPtr_t &constraints)
Definition: problem.hh:204
Definition: problem.hh:48
#define HPP_CORE_DLLAPI
Definition: config.hh:64