hpp-core
5.1.0
Implement basic classes for canonical path planning for kinematic chains.
|
Go to the documentation of this file.
30 #ifndef HPP_CORE_ROADMAP_HH
31 #define HPP_CORE_ROADMAP_HH
36 #include <hpp/util/serialization-fwd.hh>
69 value_type& minDistance,
bool reverse =
false);
79 value_type& minDistance,
bool reverse =
false);
174 bool pathExists()
const;
194 std::ostream& print(std::ostream& os)
const;
206 void addConnectedComponent(
const NodePtr_t& node);
221 virtual void impl_addEdge(
const EdgePtr_t& e);
229 void init(RoadmapWkPtr_t weak);
262 RoadmapWkPtr_t weak_;
266 std::ostream&
operator<<(std::ostream& os,
const Roadmap& r);
270 #endif // HPP_CORE_ROADMAP_HH
pinocchio::size_type size_type
Definition: fwd.hh:173
void initNode(ConfigurationIn_t config)
Definition: roadmap.hh:170
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:39
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:181
std::set< ConnectedComponentPtr_t, SharedComparator > ConnectedComponents_t
Definition: fwd.hh:127
void resetGoalNodes()
Definition: roadmap.hh:168
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:141
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:108
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:182
Roadmap()
Definition: roadmap.hh:201
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
Definition: roadmap.hh:46
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:117
const Nodes_t & nodes() const
Definition: roadmap.hh:175
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
std::set< RawPtr_t > RawPtrs_t
Definition: connected-component.hh:46
std::ostream & operator<<(std::ostream &os, const Constraint &constraint)
Definition: constraint.hh:99
const Edges_t & edges() const
Definition: roadmap.hh:176
const NodeVector_t & goalNodes() const
Definition: roadmap.hh:178
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
Definition: bi-rrt-planner.hh:35
std::list< Edge * > Edges_t
Definition: fwd.hh:145
NodePtr_t initNode() const
Definition: roadmap.hh:177
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
virtual void push_node(const NodePtr_t &n)
Definition: roadmap.hh:210
pinocchio::value_type value_type
Definition: fwd.hh:174
#define HPP_CORE_DLLAPI
Definition: config.hh:88