hpp-core
4.15.1
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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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// 1. Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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// DAMAGE.
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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 <
hpp/core/config.hh
>
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#include <
hpp/core/path-planner.hh
>
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#include <vector>
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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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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::PathOptimizerPtr_t
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition:
fwd.hh:190
hpp::core::PlanAndOptimize
Definition:
plan-and-optimize.hh:46
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition:
fwd.hh:193
hpp
Definition:
bi-rrt-planner.hh:35
hpp::core::PlanAndOptimizePtr_t
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition:
fwd.hh:195
hpp::core::PathPlannerPtr_t
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition:
fwd.hh:191
path-planner.hh
hpp::core::PathPlanner
Definition:
path-planner.hh:45
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:64
include
hpp
core
plan-and-optimize.hh
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