hpp-core
4.9.0
Implement basic classes for canonical path planning for kinematic chains.
path-planner.hh
Go to the documentation of this file.
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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_PATH_PLANNER_HH
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# define HPP_CORE_PATH_PLANNER_HH
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# include <
hpp/core/fwd.hh
>
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# include <
hpp/core/config.hh
>
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namespace
hpp
{
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namespace
core {
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class
HPP_CORE_DLLAPI
PathPlanner
{
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public
:
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virtual
~PathPlanner
() {};
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virtual
const
RoadmapPtr_t
& roadmap ()
const
;
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const
Problem
& problem ()
const
;
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virtual
void
startSolve ();
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virtual
PathVectorPtr_t
solve ();
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virtual
void
tryDirectPath()
HPP_CORE_DEPRECATED
;
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virtual
void
tryConnectInitAndGoals ();
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virtual
void
oneStep () = 0;
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virtual
PathVectorPtr_t
finishSolve (const
PathVectorPtr_t
& path);
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void
interrupt ();
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void
maxIterations (const
unsigned
long
int
& n);
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void
timeOut(const
double
& timeOut);
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PathVectorPtr_t
computePath () const;
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protected:
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PathPlanner
(const
Problem
& problem);
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PathPlanner
(const
Problem
& problem, const
RoadmapPtr_t
& roadmap);
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void
init (const PathPlannerWkPtr_t& weak);
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private:
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const
Problem
& problem_;
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const
RoadmapPtr_t
roadmap_;
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bool
interrupt_;
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unsigned
long
int
maxIterations_;
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double
timeOut_;
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PathPlannerWkPtr_t weakPtr_;
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};
// class PathPlanner
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}
// namespace core
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}
// namespace hpp
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#endif // HPP_CORE_PATH_PLANNER_HH
hpp::core::PathPlanner::~PathPlanner
virtual ~PathPlanner()
Definition:
path-planner.hh:36
hpp::core::RoadmapPtr_t
boost::shared_ptr< Roadmap > RoadmapPtr_t
Definition:
fwd.hh:181
hpp::core::HPP_CORE_DEPRECATED
constraints::Implicit NumericalConstraint HPP_CORE_DEPRECATED
Definition:
fwd.hh:347
fwd.hh
hpp
Definition:
basic-configuration-shooter.hh:26
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::Problem
Definition:
problem.hh:48
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:64
include
hpp
core
path-planner.hh
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