hpp-core
4.9.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_ROADMAP_HH
20 # define HPP_CORE_ROADMAP_HH
41 virtual void clear ();
62 value_type& minDistance,
bool reverse =
false);
67 return nearestNode (*configuration, minDistance, reverse);
78 value_type& minDistance,
bool reverse =
false);
84 return nearestNode (*configuration, connectedComponent, minDistance, reverse);
98 return nearestNodes (*configuration, k);
117 return nearestNodes (*configuration, connectedComponent, k);
185 initNode_ = addNode (config);
190 bool pathExists ()
const;
222 std::ostream& print (std::ostream& os)
const;
232 void addConnectedComponent (
const NodePtr_t& node);
238 nodes_.push_back (n);
250 virtual void addEdge (
const EdgePtr_t& e);
258 void init (RoadmapWkPtr_t weak);
291 RoadmapWkPtr_t weak_;
293 std::ostream&
operator<< (std::ostream& os,
const Roadmap& r);
297 #endif // HPP_CORE_ROADMAP_HH
pinocchio::size_type size_type
Definition: fwd.hh:156
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
NodePtr_t addNode(const Configuration_t &config)
Definition: roadmap.hh:51
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:27
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:164
void resetGoalNodes()
Definition: roadmap.hh:178
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:99
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:165
boost::shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:107
boost::shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:181
Nodes_t nearestNodes(const ConfigurationPtr_t &configuration, size_type k)
Definition: roadmap.hh:95
void initNode(const ConfigurationPtr_t &config)
Definition: roadmap.hh:183
Nodes_t nearestNodes(const ConfigurationPtr_t &configuration, const ConnectedComponentPtr_t &connectedComponent, size_type k)
Definition: roadmap.hh:112
NodePtr_t nearestNode(const ConfigurationPtr_t &configuration, const ConnectedComponentPtr_t &connectedComponent, value_type &minDistance, bool reverse=false)
Definition: roadmap.hh:80
Definition: roadmap.hh:35
const Nodes_t & nodes() const
Definition: roadmap.hh:191
std::set< RawPtr_t > RawPtrs_t
Definition: connected-component.hh:34
std::ostream & operator<<(std::ostream &os, const Constraint &constraint)
Definition: constraint.hh:98
const Edges_t & edges() const
Definition: roadmap.hh:195
std::set< ConnectedComponentPtr_t > ConnectedComponents_t
Definition: fwd.hh:108
NodePtr_t nearestNode(const ConfigurationPtr_t &configuration, value_type &minDistance, bool reverse=false)
Definition: roadmap.hh:64
const NodeVector_t & goalNodes() const
Definition: roadmap.hh:203
Definition: basic-configuration-shooter.hh:26
std::list< Edge * > Edges_t
Definition: fwd.hh:127
NodePtr_t initNode() const
Definition: roadmap.hh:199
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
virtual void push_node(const NodePtr_t &n)
Definition: roadmap.hh:236
boost::shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
pinocchio::value_type value_type
Definition: fwd.hh:157
#define HPP_CORE_DLLAPI
Definition: config.hh:64
boost::shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170